Initial commit

project/ble_peripheral/ble_app_bladder_patch/command/cmd_common.h

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+/*==============================================================================
+ * cmd_common.h - Shared header for command handlers
+ *
+ * Bundles every include / extern declaration / macro used in common across
+ * the cmd_*.c modules. A handler module only needs this header plus its own
+ * area-specific driver headers.
+ *============================================================================*/
+#ifndef CMD_COMMON_H
+#define CMD_COMMON_H
+
+#include "parser.h"
+#include <string.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <stddef.h>
+
+#include "nrf_gpio.h"
+#include "nrf_delay.h"
+#include "debug_print.h"
+#include "dr_util.h"
+#include "main.h"
+#include "app_timer.h"
+#include "fstorage.h"   /* config_data_t */
+
+/*------------------------------------------------------------------------------
+ * BLE transmission / formatting (defined in main.c)
+ *----------------------------------------------------------------------------*/
+extern uint8_t ble_bin_buffer[];
+extern void single_format_data(uint8_t *buffer, const char *tag, uint16_t value);
+extern void ascii_format_data(uint8_t *buffer, const char *tag, const char *ascii, size_t length);
+extern void format_data(uint8_t *buffer, const char *tag, const uint16_t *data_array, size_t length);
+extern void dr_binary_tx_safe(const uint8_t *buffer, uint16_t length);  /* length: word count */
+extern void dr_sd_delay_ms(uint32_t ms);
+extern volatile bool data_tx_in_progress;
+
+/*------------------------------------------------------------------------------
+ * Device state / flags
+ *----------------------------------------------------------------------------*/
+extern bool device_status;
+extern bool con_single;
+extern bool lock_check;
+extern uint8_t resetCount;
+
+/*------------------------------------------------------------------------------
+ * Measurement functions (defined elsewhere)
+ *----------------------------------------------------------------------------*/
+extern void battery_level_meas(void);
+extern void pressure_all_level_meas(void);
+extern void tmp235_voltage_level_meas(void);
+extern int  imu_read_direct(void);
+extern void battery_timer_stop(void);
+extern void main_timer_start(void);
+extern void hw_i2c_init_once(void);
+
+/*------------------------------------------------------------------------------
+ * info4 mode sensor cache (used to assemble the rbb: response in mbb?)
+ *----------------------------------------------------------------------------*/
+extern bool info4;
+extern bool ble_got_new_data;
+extern bool go_batt;
+extern bool motion_data_once;
+extern bool motion_raw_data_enabled;
+extern volatile uint16_t info_batt;
+extern volatile uint16_t info_temp;
+extern volatile uint16_t info_imu[6];
+extern volatile bool tmp235_saadc_done;
+extern volatile bool battery_saadc_done;
+
+/*------------------------------------------------------------------------------
+ * Device identifiers / passkey (FDS-backed)
+ *----------------------------------------------------------------------------*/
+extern char SERIAL_NO[12];
+extern char HW_NO[12];
+extern char m_static_passkey[6];
+extern uint32_t m_life_cycle;
+
+/*------------------------------------------------------------------------------
+ * Power / reset / bonding control
+ *----------------------------------------------------------------------------*/
+extern bool go_device_power_off;
+extern bool go_NVIC_SystemReset;
+extern bool bond_data_delete;
+extern uint8_t m_reset_status;
+extern void config_save(void);
+extern config_data_t m_config;
+
+/*------------------------------------------------------------------------------
+ * AGC gain switch (P0.20)
+ *----------------------------------------------------------------------------*/
+#define GAIN_SW_PIN  NRF_GPIO_PIN_MAP(0, 20)
+#define AGC_GAIN_SW(x) do { if(x) nrf_gpio_pin_set(GAIN_SW_PIN); else nrf_gpio_pin_clear(GAIN_SW_PIN); } while(0)
+
+#endif /* CMD_COMMON_H */

project/ble_peripheral/ble_app_bladder_patch/command/cmd_table.c

@@ -0,0 +1,62 @@
+/*==============================================================================
+ * cmd_table.c - Command table definition
+ *
+ * This file is the only linkage point between parser.c and the cmd_*.c handler modules.
+ * It pulls in every cmd_*.h to gather handler prototypes,
+ * builds the CmdEntry array, and injects the table into the parser via dr_parser_init() inside cmd_table_init().
+ *
+ * Adding a new command:
+ *  1) Implement the handler in the appropriate cmd_*.c
+ *  2) Add the prototype to the matching cmd_*.h
+ *  3) Append { "tag?", true, Cmd_xxx } to m_cmd_table[] below
+ *============================================================================*/
+
+#include "parser.h"
+#include "cmd_table.h"
+#include "cmd_device.h"
+#include "cmd_info.h"
+#include "cmd_sensor.h"
+#include "cmd_piezo.h"
+
+static const CmdEntry m_cmd_table[] = {
+    /* A. Device state control */
+    { "msq?", true, Cmd_msq },
+    { "mss?", true, Cmd_mss },
+#if FEATURE_SECURE_CONNECTION
+    { "msr?", true, Cmd_msr },
+#endif
+    { "cmd?", true, Cmd_cmd },
+
+    /* B. Device information */
+    { "mfv?", true, Cmd_mfv },
+    { "mid?", true, Cmd_mid },
+    { "mwh?", true, Cmd_mwh },
+    { "mws?", true, Cmd_mws },
+    { "mrh?", true, Cmd_mrh },
+    { "mrs?", true, Cmd_mrs },
+    { "mpz?", true, Cmd_mpz },
+    { "mqz?", true, Cmd_mqz },
+
+    /* C. Sensor measurement */
+    { "msn?", true, Cmd_msn },
+    { "mst?", true, Cmd_mst },
+    { "msp?", true, Cmd_msp },
+
+    /* D. Piezo ultrasound */
+    { "mpa?", true, Cmd_mpa },
+    { "mpb?", true, Cmd_mpb },
+    { "mpc?", true, Cmd_mpc },
+    { "mec?", true, Cmd_mec },
+    { "maa?", true, Cmd_maa },
+    { "mbb?", true, Cmd_mbb },
+    { "mcf?", true, Cmd_mcf },
+    { "mcs?", true, Cmd_mcs },
+
+    /* E. LED control (handler in cmd_device.c) */
+    { "mls?", true, Cmd_mls },
+};
+
+void cmd_table_init(void)
+{
+    dr_parser_init(m_cmd_table, sizeof(m_cmd_table) / sizeof(m_cmd_table[0]));
+}

project/ble_peripheral/ble_app_bladder_patch/command/cmd_table.h

@@ -0,0 +1,12 @@
+/*==============================================================================
+ * cmd_table.h - Command table registration entry point
+ *
+ * main.c calls cmd_table_init() at boot to inject the command table into
+ * the parser.
+ *============================================================================*/
+#ifndef CMD_TABLE_H
+#define CMD_TABLE_H
+
+void cmd_table_init(void);
+
+#endif /* CMD_TABLE_H */

project/ble_peripheral/ble_app_bladder_patch/command/dr_util.c

@@ -0,0 +1,87 @@
+/*==============================================================================
+ * dr_util.c - BLE response formatting helpers
+ *
+ * Convenience wrappers used by command handlers to assemble and transmit
+ * short BLE responses. Each helper prepends a 4-char TAG and writes the
+ * supplied uint16 values in Big-Endian order.
+ *============================================================================*/
+
+#include "dr_util.h"
+#include "parser.h"
+
+extern void single_format_data(uint8_t *buffer, const char *tag, uint16_t value);
+extern void format_data(uint8_t *buffer, const char *tag, uint16_t *data, uint8_t length);
+extern uint8_t ble_bin_buffer[];
+extern void dr_binary_tx_safe(uint8_t const *ble_bin_buff, uint16_t length);
+
+void dr_ble_return_1(const char *tag, uint16_t value)
+{
+    single_format_data(ble_bin_buffer, tag, value);
+    dr_binary_tx_safe(ble_bin_buffer, 3);  /* Use safe TX with retry */
+}
+
+void dr_ble_return_2(const char *tag, uint16_t v1, uint16_t v2)
+{
+    ble_bin_buffer[0] = tag[0];
+    ble_bin_buffer[1] = tag[1];
+    ble_bin_buffer[2] = tag[2];
+    ble_bin_buffer[3] = tag[3];
+
+    ble_bin_buffer[4] = (uint8_t)(v1 >> 8);
+    ble_bin_buffer[5] = (uint8_t)(v1 & 0xFF);
+    ble_bin_buffer[6] = (uint8_t)(v2 >> 8);
+    ble_bin_buffer[7] = (uint8_t)(v2 & 0xFF);
+
+    dr_binary_tx_safe(ble_bin_buffer, 4);  /* Use safe TX with retry */
+}
+
+void dr_ble_return_3(const char *tag, uint16_t v1, uint16_t v2, uint16_t v3)
+{
+    ble_bin_buffer[0] = tag[0];
+    ble_bin_buffer[1] = tag[1];
+    ble_bin_buffer[2] = tag[2];
+    ble_bin_buffer[3] = tag[3];
+
+    ble_bin_buffer[4] = (uint8_t)(v1 >> 8);
+    ble_bin_buffer[5] = (uint8_t)(v1 & 0xFF);
+    ble_bin_buffer[6] = (uint8_t)(v2 >> 8);
+    ble_bin_buffer[7] = (uint8_t)(v2 & 0xFF);
+    ble_bin_buffer[8] = (uint8_t)(v3 >> 8);
+    ble_bin_buffer[9] = (uint8_t)(v3 & 0xFF);
+
+    dr_binary_tx_safe(ble_bin_buffer, 5);  /* Use safe TX with retry */
+}
+
+void dr_ble_debug(uint16_t point_id, uint16_t value)
+{
+    /* Use dedicated buffer to avoid conflicts with ble_bin_buffer */
+    static uint8_t dbg_buffer[8] = {0};
+
+    dbg_buffer[0] = 'd';
+    dbg_buffer[1] = 'b';
+    dbg_buffer[2] = 'g';
+    dbg_buffer[3] = ':';
+
+    dbg_buffer[4] = (uint8_t)(point_id >> 8);
+    dbg_buffer[5] = (uint8_t)(point_id & 0xFF);
+    dbg_buffer[6] = (uint8_t)(value >> 8);
+    dbg_buffer[7] = (uint8_t)(value & 0xFF);
+
+    dr_binary_tx_safe(dbg_buffer, 4);
+}
+
+void dr_ble_return_piezo_1(const char *tag, uint16_t value)
+{
+    /* Use dedicated buffer for piezo responses to avoid conflicts with ble_bin_buffer */
+    static uint8_t piezo_buffer[8] = {0};
+
+    piezo_buffer[0] = tag[0];
+    piezo_buffer[1] = tag[1];
+    piezo_buffer[2] = tag[2];
+    piezo_buffer[3] = tag[3];
+
+    piezo_buffer[4] = (uint8_t)(value >> 8);
+    piezo_buffer[5] = (uint8_t)(value & 0xFF);
+
+    dr_binary_tx_safe(piezo_buffer, 3);  /* 6 bytes = 3 words */
+}

project/ble_peripheral/ble_app_bladder_patch/command/dr_util.h

@@ -0,0 +1,20 @@
+/*==============================================================================
+ * dr_util.h - BLE response helper API
+ *============================================================================*/
+#ifndef DR_UTIL_H
+#define DR_UTIL_H
+
+#include <stdint.h>
+
+void dr_ble_return_1(const char *tag, uint16_t value);
+void dr_ble_return_2(const char *tag, uint16_t v1, uint16_t v2);
+void dr_ble_return_3(const char *tag, uint16_t v1, uint16_t v2, uint16_t v3);
+void dr_ble_return_3_be(const char *tag, uint16_t v1, uint16_t v2, uint16_t v3);
+
+/* Piezo dedicated BLE return - uses a separate buffer to avoid conflicts. */
+void dr_ble_return_piezo_1(const char *tag, uint16_t value);
+
+/* BLE debug output - sends "dbg:" + point_id + value. */
+void dr_ble_debug(uint16_t point_id, uint16_t value);
+
+#endif /* DR_UTIL_H */

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

@@ -0,0 +1,177 @@
+/*==============================================================================
+ * cmd_device.c - Device state control handlers
+ *
+ * A. msq? -> rsq:  device power OFF
+ * B. mss? -> rss:  device soft reset
+ * C. msr? -> rsr:  BLE bond delete + reset      (FEATURE_SECURE_CONNECTION)
+ * D. cmd? -> rmd:  direct GPIO pin control      (debug / test only)
+ * E. mls? -> rls:  set LED state
+ *============================================================================*/
+
+#include "cmd_common.h"
+#include "cmd_device.h"
+#include "fstorage.h"
+#include "led_control.h"
+
+/*==============================================================================
+ * msq? -> rsq:  Device power OFF
+ *
+ * Request:  [TAG 4B "msq?"] [val 2B BE] [CRC 2B]
+ * Response: [TAG 4B "rsq:"] [val 2B BE] [CRC 2B]
+ *
+ * Sends BLE response first; the actual power-off is performed from the main loop.
+ * Powering off immediately would prevent the response from reaching the host, so a flag + timer pattern is used instead.
+ *============================================================================*/
+int Cmd_msq(const ParsedCmd *cmd)
+{
+    uint16_t val = 0;
+    dr_get_u16(cmd, 0, &val);
+    if (g_plat.log)
+    {
+        g_plat.log("[Cmd_msq] Power off val=%u\r\n", val);
+    }
+    single_format_data(ble_bin_buffer, "rsq:", val);
+    dr_binary_tx_safe(ble_bin_buffer, 2);
+    go_device_power_off = true;
+    main_timer_start();
+    return 1;
+}
+
+/*==============================================================================
+ * mss? -> rss:  Device soft reset
+ *
+ * Request:  [TAG 4B "mss?"] [val 2B BE] [CRC 2B]
+ * Response: [TAG 4B "rss:"] [val 2B BE] [CRC 2B]
+ *
+ * Resets without erasing bond information. Reset status code is persisted to FDS so the boot path can identify the cause.
+ *============================================================================*/
+int Cmd_mss(const ParsedCmd *cmd)
+{
+    uint16_t val = 0;
+    dr_get_u16(cmd, 0, &val);
+    single_format_data(ble_bin_buffer, "rss:", val);
+    dr_binary_tx_safe(ble_bin_buffer, 2);
+
+    m_reset_status = 2;
+    m_config.reset_status = m_reset_status;
+    config_save();
+    nrf_delay_ms(5);
+    go_NVIC_SystemReset = true;
+    main_timer_start();
+    return 1;
+}
+
+/*==============================================================================
+ * msr? -> rsr:  Delete BLE bonding info + system reset
+ *
+ * Request:  [TAG 4B "msr?"] [val 2B BE] [CRC 2B]
+ * Response: [TAG 4B "rsr:"] [val 2B BE] [CRC 2B]
+ *
+ * 1. Send BLE response
+ * 2. Persist bond-delete flag and reset status to FDS
+ * 3. Wait 5 ms for FDS write completion
+ * 4. Set NVIC system reset flag
+ *============================================================================*/
+#if FEATURE_SECURE_CONNECTION
+int Cmd_msr(const ParsedCmd *cmd)
+{
+    uint16_t val = 0;
+    dr_get_u16(cmd, 0, &val);
+    single_format_data(ble_bin_buffer, "rsr:", val);
+    dr_binary_tx_safe(ble_bin_buffer, 2);
+
+    bond_data_delete = true;
+    m_config.bond_data_delete = (uint8_t)bond_data_delete;
+    m_reset_status = 2;
+    m_config.reset_status = m_reset_status;
+    config_save();
+    nrf_delay_ms(5);
+    go_NVIC_SystemReset = true;
+    main_timer_start();
+    return 1;
+}
+#endif
+
+/*==============================================================================
+ * cmd? -> rmd:  Direct GPIO pin control (debug / test)
+ *
+ * Request:  [TAG 4B "cmd?"] [port 2B BE] [pin 2B BE] [state 2B BE] [CRC 2B]
+ * Response: [TAG 4B "rmd:"] [port 2B BE] [pin 2B BE] [state 2B BE] [CRC 2B]
+ * Error:    rmd: + 0  (insufficient data)
+ *
+ * port : GPIO port (0 or 1)
+ * pin  : pin number (0..31)
+ * state: 1=HIGH, 0=LOW
+ *
+ * Misuse can damage hardware - intended for debug only.
+ *============================================================================*/
+int Cmd_cmd(const ParsedCmd *cmd)
+{
+    uint16_t v1, v2, v3;
+    uint32_t pin_number;
+
+    if (cmd->data_len < 6)
+    {
+        dr_ble_return_1("rmd:", 0);
+        return 1;
+    }
+
+    if (!dr_get_u16(cmd, 0, &v1))
+    {
+        v1 = 0;
+    }
+    if (!dr_get_u16(cmd, 1, &v2))
+    {
+        v2 = 0;
+    }
+    if (!dr_get_u16(cmd, 2, &v3))
+    {
+        v3 = 0;
+    }
+
+    pin_number = NRF_GPIO_PIN_MAP(v1, v2);
+    nrf_gpio_cfg_output(pin_number);
+
+    if (v3 == 1)
+    {
+        nrf_gpio_pin_set(pin_number);
+    }
+    else
+    {
+        nrf_gpio_pin_clear(pin_number);
+    }
+
+    dr_ble_return_3("rmd:", v1, v2, v3);
+    return 1;
+}
+
+/*==============================================================================
+ * mls? -> rls:  Set LED state (app -> device)
+ *
+ * Request:  [TAG 4B "mls?"] [state 2B BE] [CRC 2B]
+ *   state: led_state_t enum value: 0=OFF, 4=DETACH_WARNING, 5=ALIGN_SEARCHING, 6=ALIGN_COMPLETE
+ * Response: [TAG 4B "rls:"] [state 2B] [CRC 2B]
+ * Error:    rls: + 0xFFFF (insufficient data)
+ *           rls: + 0xFFFE (state out of range)
+ *============================================================================*/
+int Cmd_mls(const ParsedCmd *cmd)
+{
+    if (cmd->data_len < 2)
+    {
+        dr_ble_return_1("rls:", 0xFFFF);
+        return 1;
+    }
+
+    uint16_t state;
+    dr_get_u16(cmd, 0, &state);
+
+    if (state > LED_STATE_ERROR)
+    {
+        dr_ble_return_1("rls:", 0xFFFE);
+        return 1;
+    }
+
+    led_set_state((led_state_t)state);
+    dr_ble_return_1("rls:", state);
+    return 1;
+}

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

@@ -0,0 +1,17 @@
+/*==============================================================================
+ * cmd_device.h - Device state control handlers (power / reset / GPIO / LED)
+ *============================================================================*/
+#ifndef CMD_DEVICE_H
+#define CMD_DEVICE_H
+
+#include "parser.h"
+
+int Cmd_msq(const ParsedCmd *cmd);   /* msq? -> rsq:  device power OFF */
+int Cmd_mss(const ParsedCmd *cmd);   /* mss? -> rss:  device soft reset */
+#if FEATURE_SECURE_CONNECTION
+int Cmd_msr(const ParsedCmd *cmd);   /* msr? -> rsr:  bond delete + reset */
+#endif
+int Cmd_cmd(const ParsedCmd *cmd);   /* cmd? -> rmd:  direct GPIO control */
+int Cmd_mls(const ParsedCmd *cmd);   /* mls? -> rls:  set LED state */
+
+#endif /* CMD_DEVICE_H */

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

@@ -0,0 +1,173 @@
+/*==============================================================================
+ * cmd_info.c - Device information read/write handlers
+ *
+ * Commands that read or write FDS-persisted data: firmware version, hardware version, serial number, BLE passkey.
+ * Typically written once at the factory and read back later for identification.
+ *============================================================================*/
+
+#include "cmd_common.h"
+#include "cmd_info.h"
+#include "fstorage.h"
+
+/*==============================================================================
+ * mfv? -> rfv:  Read firmware version
+ *
+ * Request:  [TAG 4B "mfv?"] [CRC 2B]
+ * Response: [TAG 4B "rfv:"] [FW_VER 12B ASCII] [CRC 2B]
+ *============================================================================*/
+int Cmd_mfv(const ParsedCmd *cmd)
+{
+    (void)cmd;
+    ascii_format_data(ble_bin_buffer, "rfv:", FIRMWARE_VERSION, 12);
+    dr_binary_tx_safe(ble_bin_buffer, 8);  /* 16 bytes = 8 words */
+    return 1;
+}
+
+/*==============================================================================
+ * mid? -> rid:  Read HW number + serial number + FW version together
+ *
+ * Request:  [TAG 4B "mid?"] [CRC 2B]
+ * Response: [TAG 4B "rid:"] [HW 12B] [SN 12B] [FW 12B] [CRC 2B]
+ *============================================================================*/
+int Cmd_mid(const ParsedCmd *cmd)
+{
+    uint8_t *buf = ble_bin_buffer;
+    (void)cmd;
+
+    memcpy(HW_NO,     m_config.hw_no,     12);
+    memcpy(SERIAL_NO, m_config.serial_no, 12);
+
+    buf[0] = 'r'; buf[1] = 'i'; buf[2] = 'd'; buf[3] = ':';
+    memcpy(&buf[4],  HW_NO,            12);
+    memcpy(&buf[16], SERIAL_NO,        12);
+    memcpy(&buf[28], FIRMWARE_VERSION, 12);
+
+    dr_binary_tx_safe(buf, 20);  /* 40 bytes = 20 words */
+    return 1;
+}
+
+/*==============================================================================
+ * mwh? -> rwh:  Write HW number to FDS
+ *
+ * Request:  [TAG 4B "mwh?"] [HW 12B ASCII] [CRC 2B]
+ * Response: [TAG 4B "rwh:"] [HW 12B ASCII] [CRC 2B]
+ * Error:    rwh: + 0xFFFF (insufficient data)
+ *============================================================================*/
+int Cmd_mwh(const ParsedCmd *cmd)
+{
+    char buf[13];
+
+    if (cmd->data_len < 12)
+    {
+        dr_ble_return_1("rwh:", 0xFFFF);
+        return 1;
+    }
+
+    dr_get_ascii(cmd, 0, buf, 12);
+    memcpy(HW_NO, buf, 12);
+    memcpy(m_config.hw_no, buf, 12);
+    config_save();
+
+    ascii_format_data(ble_bin_buffer, "rwh:", buf, 12);
+    dr_binary_tx_safe(ble_bin_buffer, 8);
+    return 1;
+}
+
+/*==============================================================================
+ * mws? -> rws:  Write serial number to FDS
+ *
+ * Request:  [TAG 4B "mws?"] [SN 12B ASCII] [CRC 2B]
+ * Response: [TAG 4B "rws:"] [SN 12B ASCII] [CRC 2B]
+ * Error:    rws: + 0xFFFF (insufficient data)
+ *============================================================================*/
+int Cmd_mws(const ParsedCmd *cmd)
+{
+    char buf[13];
+
+    if (cmd->data_len < 12)
+    {
+        dr_ble_return_1("rws:", 0xFFFF);
+        return 1;
+    }
+
+    dr_get_ascii(cmd, 0, buf, 12);
+    memcpy(SERIAL_NO, buf, 12);
+    memcpy(m_config.serial_no, buf, 12);
+    config_save();
+
+    ascii_format_data(ble_bin_buffer, "rws:", buf, 12);
+    dr_binary_tx_safe(ble_bin_buffer, 8);
+    return 1;
+}
+
+/*==============================================================================
+ * mrh? -> rrh:  Read HW number from FDS
+ *
+ * Request:  [TAG 4B "mrh?"] [CRC 2B]
+ * Response: [TAG 4B "rrh:"] [HW 12B ASCII] [CRC 2B]
+ *============================================================================*/
+int Cmd_mrh(const ParsedCmd *cmd)
+{
+    (void)cmd;
+    memcpy(HW_NO, m_config.hw_no, 12);
+    ascii_format_data(ble_bin_buffer, "rrh:", HW_NO, 12);
+    dr_binary_tx_safe(ble_bin_buffer, 8);
+    return 1;
+}
+
+/*==============================================================================
+ * mrs? -> rrs:  Read serial number from FDS
+ *
+ * Request:  [TAG 4B "mrs?"] [CRC 2B]
+ * Response: [TAG 4B "rrs:"] [SN 12B ASCII] [CRC 2B]
+ *============================================================================*/
+int Cmd_mrs(const ParsedCmd *cmd)
+{
+    (void)cmd;
+    memcpy(SERIAL_NO, m_config.serial_no, 12);
+    ascii_format_data(ble_bin_buffer, "rrs:", SERIAL_NO, 12);
+    dr_binary_tx_safe(ble_bin_buffer, 8);
+    return 1;
+}
+
+/*==============================================================================
+ * mpz? -> rpz:  Write BLE passkey to FDS
+ *
+ * Request:  [TAG 4B "mpz?"] [passkey 6B ASCII] [CRC 2B]
+ * Response: [TAG 4B "rpz:"] [passkey 6B ASCII] [CRC 2B]
+ *============================================================================*/
+int Cmd_mpz(const ParsedCmd *cmd)
+{
+    if (m_config.factory_provisioned != 0)
+    {
+        dr_ble_return_1("rpz:", 0xFFFF);
+        return 1;
+    }
+
+    char passkey[7] = {0};
+    dr_get_ascii(cmd, 0, passkey, 6);
+
+    memcpy(m_static_passkey, passkey, 6);
+    memcpy(m_config.static_passkey, m_static_passkey, 6);
+    m_config.factory_provisioned = 1;
+    config_save();
+
+    ascii_format_data(ble_bin_buffer, "rpz:", passkey, 6);
+    dr_binary_tx_safe(ble_bin_buffer, 5);
+    return 1;
+}
+
+/*==============================================================================
+ * mqz? -> rqz:  Read BLE passkey from FDS
+ *
+ * Request:  [TAG 4B "mqz?"] [CRC 2B]
+ * Response: [TAG 4B "rqz:"] [passkey 6B ASCII] [CRC 2B]
+ *============================================================================*/
+int Cmd_mqz(const ParsedCmd *cmd)
+{
+    (void)cmd;
+    memcpy(m_static_passkey, m_config.static_passkey, 6);
+    ascii_format_data(ble_bin_buffer, "rqz:", m_static_passkey, 6);
+    dr_binary_tx_safe(ble_bin_buffer, 5);
+    return 1;
+}

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

@@ -0,0 +1,18 @@
+/*==============================================================================
+ * cmd_info.h - Device information read/write handlers
+ *============================================================================*/
+#ifndef CMD_INFO_H
+#define CMD_INFO_H
+
+#include "parser.h"
+
+int Cmd_mfv(const ParsedCmd *cmd);   /* mfv? -> rfv:  read firmware version */
+int Cmd_mid(const ParsedCmd *cmd);   /* mid? -> rid:  read HW + SN + FW together */
+int Cmd_mwh(const ParsedCmd *cmd);   /* mwh? -> rwh:  write HW number */
+int Cmd_mws(const ParsedCmd *cmd);   /* mws? -> rws:  write serial number */
+int Cmd_mrh(const ParsedCmd *cmd);   /* mrh? -> rrh:  read HW number */
+int Cmd_mrs(const ParsedCmd *cmd);   /* mrs? -> rrs:  read serial number */
+int Cmd_mpz(const ParsedCmd *cmd);   /* mpz? -> rpz:  write BLE passkey */
+int Cmd_mqz(const ParsedCmd *cmd);   /* mqz? -> rqz:  read BLE passkey */
+
+#endif /* CMD_INFO_H */

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

@@ -0,0 +1,343 @@
+/*==============================================================================
+ * cmd_piezo.c - Piezo ultrasound measurement handlers
+ *
+ * mpa? -> rpa:           TX/RX power ON
+ * mpb? -> rpb:           TX/RX power OFF
+ * mpc? -> rpc:           burst generation (test)
+ * mec? -> reb:+raa:      single-channel burst + echo capture
+ * maa? -> reb:+raa:      6-channel asynchronous capture
+ * mbb? -> rbb:+reb:+raa: bulk sensor measurement + 6-channel capture
+ * mcf? -> rcf:           read piezo parameters
+ * mcs? -> rcs:           write piezo parameters
+ *============================================================================*/
+
+#include "cmd_common.h"
+#include "cmd_piezo.h"
+#include "cmd_sensor.h"           /* all_sensors() */
+#include "dr_piezo.h"
+#include "dr_adc121s051.h"
+
+/*==============================================================================
+ * mpa? -> rpa:  Enable piezo TX/RX circuit
+ *
+ * Request:  [TAG 4B "mpa?"] [CRC 2B]
+ * Response: [TAG 4B "rpa:"] [1 2B] [CRC 2B]
+ *============================================================================*/
+int Cmd_mpa(const ParsedCmd *cmd)
+{
+    (void)cmd;
+    dr_piezo_power_on();
+
+    if (g_plat.tx_bin)
+    {
+        single_format_data(ble_bin_buffer, "rpa:", 1);
+        dr_binary_tx_safe(ble_bin_buffer, 3);
+    }
+    return 1;
+}
+
+/*==============================================================================
+ * mpb? -> rpb:  Disable piezo TX/RX circuit
+ *
+ * Request:  [TAG 4B "mpb?"] [CRC 2B]
+ * Response: [TAG 4B "rpb:"] [1 2B] [CRC 2B]
+ *
+ * Power saving once measurement is complete.
+ *============================================================================*/
+int Cmd_mpb(const ParsedCmd *cmd)
+{
+    (void)cmd;
+    dr_piezo_power_off();
+
+    if (g_plat.tx_bin)
+    {
+        single_format_data(ble_bin_buffer, "rpb:", 1);
+        dr_binary_tx_safe(ble_bin_buffer, 3);
+    }
+    return 1;
+}
+
+/*==============================================================================
+ * mpc? -> rpc:  Piezo burst generation (test / debug)
+ *
+ * Request:  [TAG 4B "mpc?"] [cycles 2B] [freq_option 2B] [piezo_ch 2B] [CRC 2B]
+ *   cycles      : 3..7 (default 5)
+ *   freq_option : 0=1.8MHz, 1=2.1MHz(default), 2=2.0MHz, 3=1.7MHz, 4=2.2MHz
+ *   piezo_ch    : 0..7
+ * Response: [TAG 4B "rpc:"] [cycles 2B] [CRC 2B]
+ * Error:    rpc: + 2  (cycles out of range)
+ *
+ * Generates the burst only - no echo capture.
+ *============================================================================*/
+int Cmd_mpc(const ParsedCmd *cmd)
+{
+    uint16_t cycles = 5;
+    uint16_t freq_option = 1;
+    uint16_t piezo_ch = 0;
+
+    (void)dr_get_u16(cmd, 0, &cycles);
+    (void)dr_get_u16(cmd, 1, &freq_option);
+    (void)dr_get_u16(cmd, 2, &piezo_ch);
+
+    if (piezo_ch >= MAA_NUM_CHANNELS)
+    {
+        piezo_ch = 0;
+    }
+
+    if (cycles < 3 || cycles > 7)
+    {
+        dr_ble_return_1("rpc:", 2);
+        return 1;
+    }
+
+    dr_piezo_select_channel((uint8_t)piezo_ch);
+
+    switch (freq_option)
+    {
+        case 0:
+            dr_piezo_burst_sw_18mhz((uint8_t)cycles);
+            break;
+        case 2:  
+            dr_piezo_burst_sw_20mhz((uint8_t)cycles);
+            break;
+        case 3:  
+            dr_piezo_burst_sw_17mhz((uint8_t)cycles);
+            break;
+        case 4:  
+            dr_piezo_burst_sw_22mhz((uint8_t)cycles);
+            break;
+        default: 
+            dr_piezo_burst_sw((uint8_t)cycles);
+            break;
+    }
+
+    dr_ble_return_1("rpc:", (uint8_t)cycles);
+    return 1;
+}
+
+/*==============================================================================
+ * mec? -> reb:+raa:  Piezo burst + echo capture (16-bit raw)
+ *
+ * Request:  [TAG 4B "mec?"] [freq 2B] [delay_us 2B] [num_samples 2B]
+ *           [cycles 2B] [averaging 2B] [piezo_ch 2B] [CRC 2B]
+ * Response: reb: [num_samples 2B] [raw_data up to 238B]   (red: follow-up if needed)
+ *           raa: [status 2B]
+ * Error:    rer: + (0xEE00|err) + num_samples
+ *
+ * Sends raw 16-bit ADC values directly. Suited for short-range (~25cm).
+ *============================================================================*/
+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 averaging = 1;
+    uint16_t piezo_ch = 0;
+
+    if (!dr_piezo_is_power_on())
+    {
+        dr_piezo_power_on();
+    }
+
+    (void)dr_get_u16(cmd, 0, &freq_option);
+    (void)dr_get_u16(cmd, 1, &delay_us);
+    (void)dr_get_u16(cmd, 2, &num_samples);
+    (void)dr_get_u16(cmd, 3, &cycles);
+    (void)dr_get_u16(cmd, 4, &averaging);
+    (void)dr_get_u16(cmd, 5, &piezo_ch);
+
+    if (averaging == 0)
+    {
+        averaging = 1;
+    }
+    if (averaging > 1000)
+    {
+        averaging = 1000;
+    }
+    if (piezo_ch >= MAA_NUM_CHANNELS)
+    {
+        piezo_ch = 0;
+    }
+
+    dr_adc_err_t err = dr_adc_burst_capture_transmit(
+        (uint8_t)freq_option, delay_us, num_samples, (uint8_t)cycles,
+        (uint16_t)averaging, (uint8_t)piezo_ch, ble_bin_buffer, 0);
+
+    if (err != DR_ADC_OK)
+    {
+        dr_ble_return_2("rer:", 0xEE00 | (uint16_t)err, num_samples);
+    }
+
+    dr_piezo_power_off();
+    return 1;
+}
+
+/*==============================================================================
+ * maa? -> reb:+raa:  6-channel asynchronous full capture
+ *
+ * Request:  [TAG 4B "maa?"] [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)
+ *
+ * Asynchronous state machine - the BLE_NUS_EVT_TX_RDY callback drives the
+ * follow-up packet transmissions. Parameters are loaded from m_config (FDS).
+ *============================================================================*/
+int Cmd_maa(const ParsedCmd *cmd)
+{
+    dr_adc_err_t err;
+    (void)cmd;
+
+    if (maa_async_is_busy())
+    {
+        dr_ble_return_1("raa:", 0xFFFE);
+        return 1;
+    }
+
+    if (!dr_piezo_is_power_on())
+    {
+        dr_piezo_power_on();
+    }
+
+    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_maa] 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();
+        return 1;
+    }
+
+    return 1;
+}
+
+/*==============================================================================
+ * mbb? -> rbb:+reb:+raa:  Bulk sensor measurement + 6-channel full capture
+ *
+ * Request:  [TAG 4B "mbb?"] [CRC 2B]
+ * Response: rbb: [batt 2B] [IMU 12B] [temp 2B]
+ *           reb: [num_samples 2B] [raw_data...]   (per channel)
+ *           raa: [status 2B]
+ * Error:    raa: + 0xFFFE       (previous capture in progress)
+ *           raa: + (0xFF00|err) (start failed)
+ *
+ * 1) all_sensors() measures battery / IMU / temperature and emits rbb:
+ * 2) Starts 6-channel capture in pre-capture-all mode
+ *============================================================================*/
+int Cmd_mbb(const ParsedCmd *cmd)
+{
+    dr_adc_err_t err;
+    (void)cmd;
+
+    all_sensors();
+
+    if (maa_async_is_busy())
+    {
+        dr_ble_return_1("raa:", 0xFFFE);
+        return 1;
+    }
+
+    maa_async_set_pre_capture_all(true);
+
+    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_mbb] 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();
+        return 1;
+    }
+
+    return 1;
+}
+
+/*==============================================================================
+ * mcf? -> rcf:  Read piezo parameters from FDS
+ *
+ * Request:  [TAG 4B "mcf?"] [CRC 2B]
+ * Response: [TAG 4B "rcf:"] [freq 2B] [cycles 2B] [avg 2B] [delay_us 2B] [num_samples 2B] [CRC 2B]
+ *============================================================================*/
+int Cmd_mcf(const ParsedCmd *cmd)
+{
+    (void)cmd;
+
+    uint8_t *buf = ble_bin_buffer;
+    buf[0] = 'r'; buf[1] = 'c'; buf[2] = 'f'; buf[3] = ':';
+    buf[4] = 0;  buf[5] = m_config.piezo_freq_option;
+    buf[6] = 0;  buf[7] = m_config.piezo_cycles;
+    buf[8]  = (uint8_t)(m_config.piezo_averaging   >> 8); buf[9]  = (uint8_t)(m_config.piezo_averaging   & 0xFF);
+    buf[10] = (uint8_t)(m_config.piezo_delay_us    >> 8); buf[11] = (uint8_t)(m_config.piezo_delay_us    & 0xFF);
+    buf[12] = (uint8_t)(m_config.piezo_num_samples >> 8); buf[13] = (uint8_t)(m_config.piezo_num_samples & 0xFF);
+    dr_binary_tx_safe(buf, 7);  /* 14 bytes = 7 words */
+    return 1;
+}
+
+/*==============================================================================
+ * mcs? -> rcs:  Write piezo parameters to FDS
+ *
+ * Request:  [TAG 4B "mcs?"] [freq 2B] [cycles 2B] [avg 2B] [delay_us 2B] [num_samples 2B] [CRC 2B]
+ * Response: [TAG 4B "rcs:"] [stored 5 values] [CRC 2B]
+ * Error:    rcs: + 0xFFFF  (insufficient data)
+ *============================================================================*/
+int Cmd_mcs(const ParsedCmd *cmd)
+{
+    if (cmd->data_len < 10)
+    {
+        if (g_plat.log)
+        {
+            g_plat.log("[Cmd_mcs] missing params (data_len=%u)\r\n", cmd->data_len);
+        }
+        dr_ble_return_1("rcs:", 0xFFFF);
+        return 1;
+    }
+
+    uint16_t freq, cycles, averaging, delay_us, num_samples;
+    dr_get_u16(cmd, 0, &freq);
+    dr_get_u16(cmd, 1, &cycles);
+    dr_get_u16(cmd, 2, &averaging);
+    dr_get_u16(cmd, 3, &delay_us);
+    dr_get_u16(cmd, 4, &num_samples);
+
+    m_config.piezo_freq_option = (uint8_t)freq;
+    m_config.piezo_cycles      = (uint8_t)cycles;
+    m_config.piezo_averaging   = averaging;
+    m_config.piezo_delay_us    = delay_us;
+    m_config.piezo_num_samples = num_samples;
+    config_save();
+
+    uint8_t *buf = ble_bin_buffer;
+    buf[0] = 'r'; buf[1] = 'c'; buf[2] = 's'; buf[3] = ':';
+    buf[4] = 0;  buf[5] = m_config.piezo_freq_option;
+    buf[6] = 0;  buf[7] = m_config.piezo_cycles;
+    buf[8]  = (uint8_t)(m_config.piezo_averaging   >> 8); buf[9]  = (uint8_t)(m_config.piezo_averaging   & 0xFF);
+    buf[10] = (uint8_t)(m_config.piezo_delay_us    >> 8); buf[11] = (uint8_t)(m_config.piezo_delay_us    & 0xFF);
+    buf[12] = (uint8_t)(m_config.piezo_num_samples >> 8); buf[13] = (uint8_t)(m_config.piezo_num_samples & 0xFF);
+    dr_binary_tx_safe(buf, 7);
+    return 1;
+}

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

@@ -0,0 +1,18 @@
+/*==============================================================================
+ * cmd_piezo.h - Piezo ultrasound measurement handlers
+ *============================================================================*/
+#ifndef CMD_PIEZO_H
+#define CMD_PIEZO_H
+
+#include "parser.h"
+
+int Cmd_mpa(const ParsedCmd *cmd);   /* mpa? -> rpa:  TX/RX power ON */
+int Cmd_mpb(const ParsedCmd *cmd);   /* mpb? -> rpb:  TX/RX power OFF */
+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_mcf(const ParsedCmd *cmd);   /* mcf? -> rcf:  read piezo parameters */
+int Cmd_mcs(const ParsedCmd *cmd);   /* mcs? -> rcs:  write piezo parameters */
+
+#endif /* CMD_PIEZO_H */

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

@@ -0,0 +1,138 @@
+/*==============================================================================
+ * cmd_sensor.c - Sensor measurement handlers
+ *
+ * msn? -> rsn:  battery ADC measurement
+ * mso? -> rso:  TMP235 temperature reading
+ * msp? -> rsp:  IMU 6-axis single read
+ * all_sensors()  bulk-measurement helper used by the mbb? handler
+ *============================================================================*/
+
+#include "cmd_common.h"
+#include "cmd_sensor.h"
+#include "dr_piezo.h"
+
+/*==============================================================================
+ * msn? -> rsn:  Battery level ADC measurement
+ *
+ * Request:  [TAG 4B "msn?"] [CRC 2B]
+ * Response: rsn: + battery voltage in mV (sent from battery_saadc.c callback)
+ *============================================================================*/
+int Cmd_msn(const ParsedCmd *cmd)
+{
+    (void)cmd;
+    battery_level_meas();
+    return 1;
+}
+
+/*==============================================================================
+ * mst? -> rso:  Temperature with piezo power cycle
+ *
+ * Request:  [TAG 4B "mst?"] [CRC 2B]
+ * Response: [TAG 4B "rso:"] [temp_x100 2B BE] [CRC 2B]
+ *
+ * TMP235 shares the piezo TX/RX power rail. This command handles the full
+ * sequence: power ON -> measure -> power OFF, so the caller doesn't need
+ * to send mpa?/mpb? separately.
+ * Response is sent from the TMP235 SAADC callback (tmp235_voltage_handler).
+ *============================================================================*/
+int Cmd_mst(const ParsedCmd *cmd)
+{
+    uint32_t timeout_cnt;
+    (void)cmd;
+
+    if (!dr_piezo_is_power_on())
+    {
+        dr_piezo_power_on();
+    }
+
+    tmp235_saadc_done = false;
+    tmp235_voltage_level_meas();
+    for (timeout_cnt = 0; !tmp235_saadc_done && timeout_cnt < 100; timeout_cnt++)
+    {
+        dr_sd_delay_ms(1);
+    }
+
+    dr_piezo_power_off();
+
+    return 1;
+}
+
+/*==============================================================================
+ * msp? -> rsp:  IMU 6-axis single read
+ *
+ * Request:  [TAG 4B "msp?"] [CRC 2B]
+ * Response: rsp: + accel(xyz) + gyro(xyz)  (transmitted inside imu_read_direct)
+ *
+ * Reads IMU registers directly over I2C and transmits over BLE. Synchronous.
+ *============================================================================*/
+int Cmd_msp(const ParsedCmd *cmd)
+{
+    (void)cmd;
+    hw_i2c_init_once();
+    imu_read_direct();
+    return 1;
+}
+
+/*==============================================================================
+ * all_sensors() - Bulk-measurement helper for the mbb? handler
+ *
+ * Stores sensor values into globals via info4 mode, then transmits them as a
+ * single rbb: packet. SAADC measurements run asynchronously (callback), so
+ * dr_sd_delay_ms() is used to wait for completion.
+ *
+ * Order: battery -> IMU -> (Piezo TX/RX ON) -> temperature
+ * Response: rbb: [batt 2B] [IMU 6x2B] [temp 2B] = 20 bytes = 10 words
+ *============================================================================*/
+void all_sensors(void)
+{
+    uint8_t *buf;
+    uint32_t timeout_cnt;
+
+    info4 = true;
+
+    /* 1. Battery voltage -> info_batt */
+    battery_saadc_done = false;
+    battery_level_meas();
+    for (timeout_cnt = 0; !battery_saadc_done && timeout_cnt < 100; timeout_cnt++)
+    {
+        dr_sd_delay_ms(1);
+    }
+
+    /* 2. IMU 6-axis single read -> info_imu[6] */
+    hw_i2c_init_once();
+    imu_read_direct();
+
+    /* 3. Temperature -> info_temp  (TMP235 needs Piezo TX/RX power) */
+    if (!dr_piezo_is_power_on())
+    {
+        dr_piezo_power_on();
+    }
+
+    tmp235_saadc_done = false;
+    tmp235_voltage_level_meas();
+    for (timeout_cnt = 0; !tmp235_saadc_done && timeout_cnt < 100; timeout_cnt++)
+    {
+        dr_sd_delay_ms(1);
+    }
+
+    info4 = false;
+
+    /* Assemble and transmit the rbb: packet (dedicated buffer to avoid
+       collision with ble_bin_buffer used by the async ADC state machine) */
+    static uint8_t rbb_buf[20];
+    buf = rbb_buf;
+    buf[0] = 'r'; buf[1] = 'b'; buf[2] = 'b'; buf[3] = ':';
+    buf[4] = (uint8_t)(info_batt >> 8);
+    buf[5] = (uint8_t)(info_batt & 0xFF);
+
+    for (int i = 0; i < 6; i++)
+    {
+        buf[6 + i * 2]     = (uint8_t)(info_imu[i] >> 8);
+        buf[6 + i * 2 + 1] = (uint8_t)(info_imu[i] & 0xFF);
+    }
+
+    buf[18] = (uint8_t)(info_temp >> 8);
+    buf[19] = (uint8_t)(info_temp & 0xFF);
+
+    dr_binary_tx_safe(buf, 10);  /* 20 bytes = 10 words */
+}

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

@@ -0,0 +1,16 @@
+/*==============================================================================
+ * cmd_sensor.h - Sensor measurement handlers (battery / temperature / IMU)
+ *============================================================================*/
+#ifndef CMD_SENSOR_H
+#define CMD_SENSOR_H
+
+#include "parser.h"
+
+int Cmd_msn(const ParsedCmd *cmd);   /* msn? -> rsn:  battery ADC measurement */
+int Cmd_mst(const ParsedCmd *cmd);   /* mst? -> rso:  TMP235 with piezo power cycle */
+int Cmd_msp(const ParsedCmd *cmd);   /* msp? -> rsp:  IMU 6-axis single read */
+/* 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);
+
+#endif /* CMD_SENSOR_H */

project/ble_peripheral/ble_app_bladder_patch/command/parser.c

@@ -0,0 +1,336 @@
+/*==============================================================================
+ * parser.c - BLE command parser / dispatcher
+ *
+ * Common module that parses binary command packets received over BLE and
+ * dispatches them to the appropriate handler from the command table.
+ *
+ * Key point: this file does not know which Cmd_* functions exist.
+ * cmd_table.c injects the table pointer at boot via dr_parser_init().
+ *
+ * Packet layout: [TAG 4B] [data N] [CRC16 2B (optional)]
+ *   - TAG  : 4-char ASCII identifier (e.g. "mid?")
+ *   - data : Big-Endian uint16 or ASCII
+ *   - CRC16: present when g_plat.crc_check is true; trailing 2 bytes (LE)
+ *
+ * Flow:
+ *   1) dr_cmd_parser()   - external entry point
+ *   2) dr_parse_cmd()    - length / CRC verification + TAG/data split
+ *   3) dr_cmd_dispatch() - walks the command table -> calls handler
+ *
+ * Error responses (all formatted as [err_tag 4B] [echo cmd_tag 4B] = 8 bytes):
+ *   - rxs:  Too short    (< 4B, or < 7B with CRC enabled)
+ *   - rxc:  CRC fail
+ *   - rxd:  Disabled command
+ *   - rxn:  NULL handler
+ *   - rxx:  Unknown command
+ *============================================================================*/
+
+#include "parser.h"
+#include <string.h>
+
+
+/*------------------------------------------------------------------------------
+ * Globals (declared extern in header)
+ *----------------------------------------------------------------------------*/
+dr_platform_if_t g_plat = { 0, 0, 0 };
+bool g_log_enable = false;
+
+
+/*------------------------------------------------------------------------------
+ * Internal state - command table pointer injected via dr_parser_init()
+ *----------------------------------------------------------------------------*/
+static const CmdEntry *m_cmd_table = NULL;
+static uint16_t        m_cmd_count = 0;
+
+
+/*==============================================================================
+ * Internal utilities (static)
+ *============================================================================*/
+
+/* Copy first 4 bytes of buffer into a null-terminated TAG string. */
+static void dr_copy_tag(const uint8_t *buf, char *tag_out)
+{
+    tag_out[0] = (char)buf[0];
+    tag_out[1] = (char)buf[1];
+    tag_out[2] = (char)buf[2];
+    tag_out[3] = (char)buf[3];
+    tag_out[4] = '\0';
+}
+
+/* Compare two 4-char TAGs (byte-by-byte, faster than memcmp here). */
+static bool dr_tag_eq(const char *tag, const char *key4)
+{
+    return (tag[0] == key4[0] &&
+            tag[1] == key4[1] &&
+            tag[2] == key4[2] &&
+            tag[3] == key4[3]);
+}
+
+
+/*==============================================================================
+ * Public utilities - used by handlers
+ *============================================================================*/
+
+bool dr_get_u16(const ParsedCmd *cmd, uint8_t word_index, uint16_t *out)
+{
+    uint8_t pos = (uint8_t)(word_index * 2);
+    if (cmd->data_len < (uint8_t)(pos + 2))
+    {
+        return false;
+    }
+    *out = (uint16_t)((uint16_t)cmd->data[pos] << 8) | (uint16_t)cmd->data[pos + 1];
+    return true;
+}
+
+void dr_get_ascii(const ParsedCmd *cmd, uint8_t offset, char *out, uint8_t max_len)
+{
+    uint8_t i;
+    uint8_t remain;
+
+    if (offset >= cmd->data_len)
+    {
+        out[0] = '\0';
+        return;
+    }
+
+    remain = (uint8_t)(cmd->data_len - offset);
+    if (remain > max_len)
+    {
+        remain = max_len;
+    }
+
+    for (i = 0; i < remain; i++)
+    {
+        out[i] = (char)cmd->data[offset + i];
+    }
+    out[remain] = '\0';
+}
+
+
+/*==============================================================================
+ * CRC16 (Nordic SDK CRC-CCITT variant)
+ *============================================================================*/
+
+uint16_t dr_crc16_compute(const uint8_t *p_data, uint32_t size, const uint16_t *p_crc)
+{
+    uint32_t i;
+    uint16_t crc = (p_crc == NULL) ? 0xFFFF : *p_crc;
+
+    for (i = 0; i < size; i++)
+    {
+        crc = (uint8_t)(crc >> 8) | (crc << 8);
+        crc ^= p_data[i];
+        crc ^= (uint8_t)(crc & 0xFF) >> 4;
+        crc ^= (crc << 8) << 4;
+        crc ^= ((crc & 0xFF) << 4) << 1;
+    }
+    return crc;
+}
+
+static bool dr_crc16_check(const uint8_t *p_data, uint32_t data_len, uint16_t expected_crc)
+{
+    return (dr_crc16_compute(p_data, data_len, NULL) == expected_crc);
+}
+
+/* Extract trailing 2 bytes (Little-Endian) as expected CRC and verify. */
+static bool dr_crc16_check_packet(const uint8_t *packet, uint32_t packet_len)
+{
+    uint16_t expected_crc;
+    uint32_t data_len;
+
+    if (packet_len < 2)
+    {
+        return false;
+    }
+
+    data_len = packet_len - 2;
+    expected_crc = (uint16_t)packet[packet_len - 2]
+                 | ((uint16_t)packet[packet_len - 1] << 8);
+
+    return dr_crc16_check(packet, data_len, expected_crc);
+}
+
+
+/*==============================================================================
+ * Error response helper
+ *
+ * Packet: [err_tag 4B] [echo cmd_tag 4B] = 8 bytes = 4 words
+ * CRC16 is appended automatically by the tx_bin layer.
+ *============================================================================*/
+static void dr_send_error(const char *err_tag, const char *cmd_tag)
+{
+    if (g_plat.tx_bin)
+    {
+        uint8_t err_buf[8];
+        memcpy(&err_buf[0], err_tag, 4);
+        memcpy(&err_buf[4], cmd_tag, 4);
+        g_plat.tx_bin(err_buf, 4);
+    }
+}
+
+
+/*==============================================================================
+ * Packet parser - raw buffer -> ParsedCmd
+ *
+ * Error responses (rxs: / rxc:) are emitted directly from this function.
+ *============================================================================*/
+static bool dr_parse_cmd(const uint8_t *buffer, uint8_t length, ParsedCmd *out)
+{
+    uint8_t data_len;
+
+    /* Less than 4 bytes -> TAG cannot be identified */
+    if (length < 4)
+    {
+        dr_send_error("rxs:", "????");
+        if (g_plat.log && g_log_enable)
+        {
+            g_plat.log("[parser] too short (%u bytes) -> rxs:\r\n", length);
+        }
+        return false;
+    }
+
+    /* Extract TAG first (used in error echoes below) */
+    dr_copy_tag(buffer, out->tag);
+
+    /* CRC verification */
+    if (g_plat.crc_check)
+    {
+        if (length < 7)
+        {
+            dr_send_error("rxs:", out->tag);
+            if (g_plat.log && g_log_enable)
+            {
+                g_plat.log("[parser] CRC enabled but too short (%u) -> rxs:\r\n", length);
+            }
+            return false;
+        }
+
+        if (!dr_crc16_check_packet(buffer, length))
+        {
+            dr_send_error("rxc:", out->tag);
+            if (g_plat.log && g_log_enable)
+            {
+                g_plat.log("[parser] CRC mismatch '%s' -> rxc:\r\n", out->tag);
+            }
+            return false;
+        }
+
+        data_len = (uint8_t)(length - 4 - 2);  /* strip TAG and CRC */
+    }
+    else
+    {
+        data_len = (uint8_t)(length - 4);
+    }
+
+    if (data_len > DR_MAX_DATA)
+    {
+        data_len = DR_MAX_DATA;
+    }
+
+    if (data_len > 0)
+    {
+        memcpy(out->data, buffer + 4, data_len);
+    }
+    out->data_len = data_len;
+
+    return true;
+}
+
+
+/*==============================================================================
+ * Command dispatcher
+ *
+ * Lower-cases the parsed TAG and walks the command table to find a matching
+ * handler. Emits the matching error response on miss / disabled / NULL handler.
+ *============================================================================*/
+static int dr_cmd_dispatch(const ParsedCmd *cmd)
+{
+    uint16_t i;
+    char tag_lower[5];
+
+    if (m_cmd_table == NULL)
+    {
+        dr_send_error("rxn:", cmd->tag);
+        if (g_plat.log)
+        {
+            g_plat.log("[parser] table not initialized -> rxn:\n");
+        }
+        return 0;
+    }
+
+    /* Case-insensitive matching */
+    for (i = 0; i < 4 && cmd->tag[i]; i++)
+    {
+        tag_lower[i] = (cmd->tag[i] >= 'A' && cmd->tag[i] <= 'Z') ? (cmd->tag[i] + 32) : cmd->tag[i];
+    }
+    tag_lower[i] = '\0';
+
+    for (i = 0; i < m_cmd_count; i++)
+    {
+        if (dr_tag_eq(tag_lower, m_cmd_table[i].tag))
+        {
+
+            if (!m_cmd_table[i].enabled)
+            {
+                dr_send_error("rxd:", cmd->tag);
+                if (g_plat.log && g_log_enable)
+                {
+                    g_plat.log("Command '%s' disabled -> rxd:\n", cmd->tag);
+                }
+                return 0;
+            }
+
+            if (m_cmd_table[i].handler == NULL)
+            {
+                dr_send_error("rxn:", cmd->tag);
+                if (g_plat.log)
+                {
+                    g_plat.log("[parser] NULL handler for '%s' -> rxn:\n", cmd->tag);
+                }
+                return 0;
+            }
+
+            return m_cmd_table[i].handler(cmd);
+        }
+    }
+
+    /* TAG not found in table */
+    dr_send_error("rxx:", cmd->tag);
+    if (g_plat.log && g_log_enable)
+    {
+        g_plat.log("Unknown TAG '%s' -> rxx:\n", cmd->tag);
+    }
+    return 0;
+}
+
+
+/*==============================================================================
+ * Public API
+ *============================================================================*/
+
+/* Called by cmd_table.c at boot to inject the command table. */
+void dr_parser_init(const CmdEntry *table, uint16_t count)
+{
+    m_cmd_table = table;
+    m_cmd_count = count;
+}
+
+/* Entry point - called from BLE NUS / UART receive callbacks.
+ *
+ * Returns:
+ *    1 = command processed successfully
+ *    0 = unknown TAG / disabled command (error response already sent)
+ *   -1 = parse failure (rxs: / rxc: error response already sent)
+ */
+int dr_cmd_parser(const uint8_t *buf, uint8_t len)
+{
+    ParsedCmd cmd;
+
+    if (!dr_parse_cmd(buf, len, &cmd))
+    {
+        if (g_plat.log) g_plat.log("[PARSER] PARSE FAIL\r\n");
+        return -1;
+    }
+
+    return dr_cmd_dispatch(&cmd);
+}

project/ble_peripheral/ble_app_bladder_patch/command/parser.h

@@ -0,0 +1,75 @@
+/*==============================================================================
+ * parser.h - BLE command parser public API
+ *
+ * Parser infrastructure (parsing/CRC/dispatch) and command handlers are
+ * decoupled:
+ *   - Parser:   parser.c                          (defines the functions here)
+ *   - Handlers: handlers/cmd_device.c / cmd_info.c / ...
+ *   - Table:    cmd_table.c                       (injected via cmd_table_init)
+ *
+ * Boot sequence: main.c calls cmd_table_init() -> dr_parser_init() to inject
+ * the command table pointer into the parser.
+ *============================================================================*/
+#ifndef PARSER_H
+#define PARSER_H
+
+#include <stdint.h>
+#include <stdbool.h>
+
+/* Maximum payload length (excludes TAG) */
+#define DR_MAX_DATA 128
+
+/*------------------------------------------------------------------------------
+ * Platform interface
+ *----------------------------------------------------------------------------*/
+typedef struct {
+    void (*log)(const char *fmt, ...);
+    void (*tx_bin)(const uint8_t *buf, uint16_t len);  /* len: word (uint16) count */
+    bool crc_check;
+} dr_platform_if_t;
+
+extern dr_platform_if_t g_plat;
+extern bool             g_log_enable;
+
+/*------------------------------------------------------------------------------
+ * Parsed command - input passed to handlers
+ *----------------------------------------------------------------------------*/
+typedef struct {
+    char    tag[5];               /* Command TAG (e.g. "mid?") + '\0' */
+    uint8_t data[DR_MAX_DATA];    /* Payload bytes following the TAG */
+    uint8_t data_len;             /* Valid length of data[] */
+} ParsedCmd;
+
+/*------------------------------------------------------------------------------
+ * Command table entry - defined in cmd_table.c
+ *----------------------------------------------------------------------------*/
+typedef struct {
+    char tag[5];                              /* TAG: 4 chars + '\0' */
+    bool enabled;                             /* false -> rxd: response */
+    int  (*handler)(const ParsedCmd *cmd);    /* 1=success, 0=failure */
+} CmdEntry;
+
+/*------------------------------------------------------------------------------
+ * Parser API
+ *----------------------------------------------------------------------------*/
+
+/* Inject command table (called once at boot). */
+void dr_parser_init(const CmdEntry *table, uint16_t count);
+
+/* Entry point: invoked from BLE NUS / UART receive callbacks. */
+int  dr_cmd_parser(const uint8_t *buf, uint8_t len);
+
+/*------------------------------------------------------------------------------
+ * Public utilities for handlers
+ *----------------------------------------------------------------------------*/
+
+/* Extract Big-Endian uint16. Returns false if not enough data. */
+bool dr_get_u16(const ParsedCmd *cmd, uint8_t word_index, uint16_t *out);
+
+/* Extract null-terminated ASCII string. out must hold at least max_len+1. */
+void dr_get_ascii(const ParsedCmd *cmd, uint8_t offset, char *out, uint8_t max_len);
+
+/* CRC16 (Nordic SDK CRC-CCITT variant). p_crc=NULL -> initial 0xFFFF. */
+uint16_t dr_crc16_compute(const uint8_t *p_data, uint32_t size, const uint16_t *p_crc);
+
+#endif /* PARSER_H */

project/ble_peripheral/ble_app_bladder_patch/download/__download_bootloader_rev3.bat

@@ -0,0 +1,30 @@
+
+set CURDIR=%cd%
+
+
+
+copy ..\pca10056\s140\arm5_no_packs\_build\nrf52840_xxaa.hex medithings_bladder_patch_0001.hex
+copy ..\..\..\dfu\secure_bootloader\pca10056_s140_ble\arm5_no_packs\_build\nrf52840_xxaa_s140.hex medithings_bladder_patch_bootloader.hex
+
+nrfutil settings generate --family NRF52840 --application medithings_bladder_patch_0001.hex --application-version 1 --bootloader-version 1 --bl-settings-version 2 medithings_bladder_patch_bootloader_setting.hex
+
+mergehex.exe --merge s140_nrf52_7.2.0_softdevice.hex medithings_bladder_patch_0001.hex --output medithings_bladder_patch_merged_1.hex
+mergehex.exe --merge medithings_bladder_patch_bootloader.hex medithings_bladder_patch_bootloader_setting.hex --output medithings_bladder_patch_merged_2.hex
+mergehex.exe --merge medithings_bladder_patch_merged_1.hex medithings_bladder_patch_merged_2.hex --output medithings_bladder_patch_dfu_merged_all.hex
+
+
+nrfjprog --memrd 0x10001208
+
+
+nrfjprog --family NRF52 --recover
+
+nrfjprog --memrd 0x10001208
+
+nrfjprog --family NRF52 --eraseall
+nrfjprog --family NRF52 --program medithings_bladder_patch_dfu_merged_all.hex --verify
+nrfjprog --family NRF52 --reset
+nrfjprog --family NRF52 --rbp ALL
+nrfjprog --memwr 0x10001208 --val 0x00
+nrfjprog --memrd 0x10001208
+
+pause

project/ble_peripheral/ble_app_bladder_patch/download/cp.bat

@@ -0,0 +1,137 @@
+@echo off
+setlocal enabledelayedexpansion
+
+echo ==========================================
+echo     MEDiThings Bladder Patch Programming
+echo     (mergehex + nrfutil 8.x)
+echo ==========================================
+
+REM -----------------------------------------------------
+REM Create hex output folder
+REM -----------------------------------------------------
+if not exist hex mkdir hex
+
+REM -----------------------------------------------------
+REM 1. Copy HEX files
+REM -----------------------------------------------------
+echo [1/7] Copying HEX files...
+copy "..\pca10056\s140\arm5_no_packs\_build\nrf52840_xxaa.hex" hex\app.hex
+copy "..\..\..\dfu\secure_bootloader\pca10056_s140_ble\arm5_no_packs\_build\nrf52840_xxaa_s140.hex" hex\boot.hex
+
+if %errorlevel% neq 0 (
+    echo ERROR: failed copying files.
+    pause
+    exit /b 1
+)
+
+REM -----------------------------------------------------
+REM 2. Generate Bootloader DFU Settings
+REM -----------------------------------------------------
+echo [2/7] Generating Bootloader DFU settings...
+nrfutil settings generate ^
+    --family NRF52840 ^
+    --application hex\app.hex ^
+    --application-version 1 ^
+    --bootloader-version 1 ^
+    --bl-settings-version 2 ^
+    hex\settings.hex
+
+if %errorlevel% neq 0 (
+    echo ERROR: nrfutil settings failed.
+    pause
+    exit /b 1
+)
+
+REM -----------------------------------------------------
+REM 3. Merge HEX (SoftDevice + Application)
+REM -----------------------------------------------------
+echo [3/7] Merging SoftDevice + Application...
+mergehex.exe --merge s140_nrf52_7.2.0_softdevice.hex hex\app.hex --output hex\part1.hex
+
+if %errorlevel% neq 0 (
+    echo ERROR: mergehex part1 failed.
+    pause
+    exit /b 1
+)
+
+REM -----------------------------------------------------
+REM 4. Merge HEX (Bootloader + Settings)
+REM -----------------------------------------------------
+echo [4/7] Merging Bootloader + Settings...
+mergehex.exe --merge hex\boot.hex hex\settings.hex --output hex\part2.hex
+
+if %errorlevel% neq 0 (
+    echo ERROR: mergehex part2 failed.
+    pause
+    exit /b 1
+)
+
+REM -----------------------------------------------------
+REM 5. Final HEX merge (Combine everything)
+REM -----------------------------------------------------
+echo [5/7] Creating final combined HEX...
+mergehex.exe --merge hex\part1.hex hex\part2.hex --output hex\firmware_all.hex
+
+if %errorlevel% neq 0 (
+    echo ERROR: mergehex final merge failed.
+    pause
+    exit /b 1
+)
+
+echo Final merged HEX: hex\firmware_all.hex
+
+REM -----------------------------------------------------
+REM 6. Detect device SERIAL NUMBER
+REM -----------------------------------------------------
+echo [6/7] Detecting device serial number...
+
+for /f %%A in ('
+    powershell -Command "(nrfutil device list --json | Select-String '\"type\":\"info\"' | ConvertFrom-Json).data.devices[0].serialNumber"
+') do set SERIALNUMBER=%%A
+
+if "%SERIALNUMBER%"=="" (
+    echo ERROR: No serial number found.
+    pause
+    exit /b 1
+)
+
+echo Using Serial Number: %SERIALNUMBER%
+echo Flashing: recover → erase → program → reset
+
+REM recover
+nrfutil device recover --serial-number %SERIALNUMBER%
+if %errorlevel% neq 0 goto flash_fail
+
+REM erase
+nrfutil device erase --serial-number %SERIALNUMBER%
+if %errorlevel% neq 0 goto flash_fail
+
+REM program
+nrfutil device program --firmware hex\firmware_all.hex --serial-number %SERIALNUMBER%
+if %errorlevel% neq 0 goto flash_fail
+
+REM reset
+nrfutil device reset --serial-number %SERIALNUMBER%
+if %errorlevel% neq 0 goto flash_fail
+
+goto flash_success
+
+:flash_fail
+echo ERROR: Flashing failed.
+pause
+exit /b 1
+
+:flash_success
+
+REM -----------------------------------------------------
+REM 7. Set Readback Protection (RBP)
+REM -----------------------------------------------------
+echo [7/7] Setting Readback Protection (ALL)...
+nrfutil device protection-set ALL --serial-number %SERIALNUMBER%
+
+echo ==========================================
+echo   Programming Complete!
+echo   %date% %time%
+echo ==========================================
+pause
+endlocal

project/ble_peripheral/ble_app_bladder_patch/download/cpd.bat

@@ -0,0 +1,183 @@
+@echo off
+setlocal enabledelayedexpansion
+
+echo ==========================================
+echo     MEDiThings Bladder Patch Programming
+echo     (DEBUG MODE - No Readback Protection)
+echo ==========================================
+
+REM -----------------------------------------------------
+REM Set script directory as base path
+REM -----------------------------------------------------
+cd /d "%~dp0"
+echo Working directory: %CD%
+
+REM -----------------------------------------------------
+REM Create hex output folder
+REM -----------------------------------------------------
+if not exist hex mkdir hex
+
+REM -----------------------------------------------------
+REM 1. Copy HEX files (with verification)
+REM -----------------------------------------------------
+echo [1/6] Copying HEX files...
+
+set "APP_SRC=..\pca10056\s140\arm5_no_packs\_build\nrf52840_xxaa.hex"
+set "BOOT_SRC=..\..\..\dfu\secure_bootloader\pca10056_s140_ble\arm5_no_packs\_build\nrf52840_xxaa_s140.hex"
+
+REM Check source files exist
+if not exist "%APP_SRC%" (
+    echo ERROR: Application HEX not found: %APP_SRC%
+    pause
+    exit /b 1
+)
+
+if not exist "%BOOT_SRC%" (
+    echo ERROR: Bootloader HEX not found: %BOOT_SRC%
+    pause
+    exit /b 1
+)
+
+REM Copy with /Y to overwrite without prompt
+copy /Y "%APP_SRC%" hex\app.hex
+if %errorlevel% neq 0 (
+    echo ERROR: Failed to copy app.hex
+    pause
+    exit /b 1
+)
+echo   - app.hex copied OK
+
+copy /Y "%BOOT_SRC%" hex\boot.hex
+if %errorlevel% neq 0 (
+    echo ERROR: Failed to copy boot.hex
+    pause
+    exit /b 1
+)
+echo   - boot.hex copied OK
+
+REM -----------------------------------------------------
+REM 2. Generate Bootloader DFU Settings
+REM -----------------------------------------------------
+echo [2/6] Generating Bootloader DFU settings...
+nrfutil settings generate ^
+    --family NRF52840 ^
+    --application hex\app.hex ^
+    --application-version 1 ^
+    --bootloader-version 1 ^
+    --bl-settings-version 2 ^
+    hex\settings.hex
+
+if %errorlevel% neq 0 (
+    echo ERROR: nrfutil settings failed.
+    pause
+    exit /b 1
+)
+
+REM -----------------------------------------------------
+REM 3. Merge HEX (SoftDevice + Application)
+REM -----------------------------------------------------
+echo [3/6] Merging SoftDevice + Application...
+mergehex.exe --merge s140_nrf52_7.2.0_softdevice.hex hex\app.hex --output hex\part1.hex
+
+if %errorlevel% neq 0 (
+    echo ERROR: mergehex part1 failed.
+    pause
+    exit /b 1
+)
+
+REM -----------------------------------------------------
+REM 4. Merge HEX (Bootloader + Settings)
+REM -----------------------------------------------------
+echo [4/6] Merging Bootloader + Settings...
+mergehex.exe --merge hex\boot.hex hex\settings.hex --output hex\part2.hex
+
+if %errorlevel% neq 0 (
+    echo ERROR: mergehex part2 failed.
+    pause
+    exit /b 1
+)
+
+REM -----------------------------------------------------
+REM 5. Final HEX merge (Combine everything)
+REM -----------------------------------------------------
+echo [5/6] Creating final combined HEX...
+mergehex.exe --merge hex\part1.hex hex\part2.hex --output hex\firmware_all.hex
+
+if %errorlevel% neq 0 (
+    echo ERROR: mergehex final merge failed.
+    pause
+    exit /b 1
+)
+
+echo Final merged HEX: hex\firmware_all.hex
+
+REM -----------------------------------------------------
+REM 6. Detect device SERIAL NUMBER and Flash
+REM -----------------------------------------------------
+echo [6/6] Detecting device serial number...
+
+for /f %%A in ('
+    powershell -Command "(nrfutil device list --json | Select-String '\"type\":\"info\"' | ConvertFrom-Json).data.devices[0].serialNumber"
+') do set SERIALNUMBER=%%A
+
+if "%SERIALNUMBER%"=="" (
+    echo ERROR: No serial number found.
+    pause
+    exit /b 1
+)
+
+echo Using Serial Number: %SERIALNUMBER%
+echo Flashing: program → reset (NO erase, FDS preserved)
+
+REM recover - SKIP to preserve internal flash data
+REM erase   - SKIP to preserve FDS/fstorage data
+
+REM program (hex 데이터가 있는 영역만 erase, FDS 보존)
+nrfutil device program --firmware hex\firmware_all.hex --options chip_erase_mode=ERASE_RANGES_TOUCHED_BY_FIRMWARE --serial-number %SERIALNUMBER%
+if %errorlevel% neq 0 (
+    echo.
+    echo [WARNING] Program failed - device may have Readback Protection enabled.
+    echo           Recover will ERASE ALL flash including FDS data.
+    echo.
+    set /p RECOVER_YN="Recover and retry? (Y/N): "
+    if /i "!RECOVER_YN!"=="Y" (
+        echo Recovering device...
+        nrfutil device recover --serial-number %SERIALNUMBER%
+        if %errorlevel% neq 0 goto flash_fail
+        echo Re-programming...
+        nrfutil device program --firmware hex\firmware_all.hex --options chip_erase_mode=ERASE_RANGES_TOUCHED_BY_FIRMWARE --serial-number %SERIALNUMBER%
+        if %errorlevel% neq 0 goto flash_fail
+    ) else (
+        goto flash_fail
+    )
+)
+
+REM reset
+nrfutil device reset --serial-number %SERIALNUMBER%
+if %errorlevel% neq 0 goto flash_fail
+
+goto flash_success
+
+:flash_fail
+echo ERROR: Flashing failed.
+pause
+exit /b 1
+
+:flash_success
+
+REM -----------------------------------------------------
+REM NOTE: Readback Protection SKIPPED for debugging
+REM -----------------------------------------------------
+echo ==========================================
+echo   Programming Complete! (DEBUG MODE)
+echo   No Readback Protection Applied
+echo   Internal Flash (FDS) Preserved
+echo   %date% %time%
+echo ==========================================
+
+REM -----------------------------------------------------
+REM Open J-Link RTT Viewer for RTT debugging
+REM -----------------------------------------------------
+echo Starting J-Link RTT Viewer...
+
+endlocal

project/ble_peripheral/ble_app_bladder_patch/download/cpd_eraseALL.bat

@@ -0,0 +1,176 @@
+@echo off
+setlocal enabledelayedexpansion
+
+echo ==========================================
+echo     MEDiThings Bladder Patch Programming
+echo     (DEBUG MODE - ERASE ALL, FDS Reset)
+echo ==========================================
+
+REM -----------------------------------------------------
+REM Set script directory as base path 
+REM -----------------------------------------------------
+cd /d "%~dp0"
+echo Working directory: %CD%
+
+REM -----------------------------------------------------
+REM Create hex output folder
+REM -----------------------------------------------------
+if not exist hex mkdir hex
+
+REM -----------------------------------------------------
+REM 1. Copy HEX files (with verification)
+REM -----------------------------------------------------
+echo [1/6] Copying HEX files...
+
+set "APP_SRC=..\pca10056\s140\arm5_no_packs\_build\nrf52840_xxaa.hex"
+set "BOOT_SRC=..\..\..\dfu\secure_bootloader\pca10056_s140_ble\arm5_no_packs\_build\nrf52840_xxaa_s140.hex"
+
+REM Check source files exist
+if not exist "%APP_SRC%" (
+    echo ERROR: Application HEX not found: %APP_SRC%
+    pause
+    exit /b 1
+)
+
+if not exist "%BOOT_SRC%" (
+    echo ERROR: Bootloader HEX not found: %BOOT_SRC%
+    pause
+    exit /b 1
+)
+
+REM Copy with /Y to overwrite without prompt
+copy /Y "%APP_SRC%" hex\app.hex
+if %errorlevel% neq 0 (
+    echo ERROR: Failed to copy app.hex
+    pause
+    exit /b 1
+)
+echo   - app.hex copied OK
+
+copy /Y "%BOOT_SRC%" hex\boot.hex
+if %errorlevel% neq 0 (
+    echo ERROR: Failed to copy boot.hex
+    pause
+    exit /b 1
+)
+echo   - boot.hex copied OK
+
+REM -----------------------------------------------------
+REM 2. Generate Bootloader DFU Settings
+REM -----------------------------------------------------
+echo [2/6] Generating Bootloader DFU settings...
+nrfutil settings generate ^
+    --family NRF52840 ^
+    --application hex\app.hex ^
+    --application-version 1 ^
+    --bootloader-version 1 ^
+    --bl-settings-version 2 ^
+    hex\settings.hex
+
+if %errorlevel% neq 0 (
+    echo ERROR: nrfutil settings failed.
+    pause
+    exit /b 1
+)
+
+REM -----------------------------------------------------
+REM 3. Merge HEX (SoftDevice + Application)
+REM -----------------------------------------------------
+echo [3/6] Merging SoftDevice + Application...
+mergehex.exe --merge s140_nrf52_7.2.0_softdevice.hex hex\app.hex --output hex\part1.hex
+
+if %errorlevel% neq 0 (
+    echo ERROR: mergehex part1 failed.
+    pause
+    exit /b 1
+)
+
+REM -----------------------------------------------------
+REM 4. Merge HEX (Bootloader + Settings)
+REM -----------------------------------------------------
+echo [4/6] Merging Bootloader + Settings...
+mergehex.exe --merge hex\boot.hex hex\settings.hex --output hex\part2.hex
+
+if %errorlevel% neq 0 (
+    echo ERROR: mergehex part2 failed.
+    pause
+    exit /b 1
+)
+
+REM -----------------------------------------------------
+REM 5. Final HEX merge (Combine everything)
+REM -----------------------------------------------------
+echo [5/6] Creating final combined HEX...
+mergehex.exe --merge hex\part1.hex hex\part2.hex --output hex\firmware_all.hex
+
+if %errorlevel% neq 0 (
+    echo ERROR: mergehex final merge failed.
+    pause
+    exit /b 1
+)
+
+echo Final merged HEX: hex\firmware_all.hex
+
+REM -----------------------------------------------------
+REM 6. Detect device SERIAL NUMBER and Flash
+REM -----------------------------------------------------
+echo [6/6] Detecting device serial number...
+
+for /f %%A in ('
+    powershell -Command "(nrfutil device list --json | Select-String '\"type\":\"info\"' | ConvertFrom-Json).data.devices[0].serialNumber"
+') do set SERIALNUMBER=%%A
+
+if "%SERIALNUMBER%"=="" (
+    echo ERROR: No serial number found.
+    pause
+    exit /b 1
+)
+
+echo Using Serial Number: %SERIALNUMBER%
+echo Flashing: ERASE ALL + program + reset (FDS will be reset!)
+
+REM program (ERASE_ALL: chip erase -> FDS/bond data all cleared)
+nrfutil device program --firmware hex\firmware_all.hex --serial-number %SERIALNUMBER%
+if %errorlevel% neq 0 (
+    echo.
+    echo [WARNING] Program failed - device may have Readback Protection enabled.
+    echo           Recover will ERASE ALL flash including FDS data.
+    echo.
+    set /p RECOVER_YN="Recover and retry? (Y/N): "
+    if /i "!RECOVER_YN!"=="Y" (
+        echo Recovering device...
+        nrfutil device recover --serial-number %SERIALNUMBER%
+        if %errorlevel% neq 0 goto flash_fail
+        echo Re-programming...
+        nrfutil device program --firmware hex\firmware_all.hex --serial-number %SERIALNUMBER%
+        if %errorlevel% neq 0 goto flash_fail
+    ) else (
+        goto flash_fail
+    )
+)
+
+REM reset
+nrfutil device reset --serial-number %SERIALNUMBER%
+if %errorlevel% neq 0 goto flash_fail
+
+goto flash_success
+
+:flash_fail
+echo ERROR: Flashing failed.
+pause
+exit /b 1
+
+:flash_success
+
+REM -----------------------------------------------------
+REM NOTE: Readback Protection SKIPPED for debugging
+REM -----------------------------------------------------
+echo ==========================================
+echo   Programming Complete! (ERASE ALL)
+echo   No Readback Protection Applied
+echo   FDS/Bond data cleared (factory default)
+echo   %date% %time%
+echo ==========================================
+pause
+
+endlocal

project/ble_peripheral/ble_app_bladder_patch/download/etc/__erase_all.bat

@@ -0,0 +1,3 @@
+nrfjprog --family NRF52 --recover
+nrfjprog --family NRF52 --eraseall
+pause

project/ble_peripheral/ble_app_bladder_patch/download/etc/__fw_protect.bat

@@ -0,0 +1,3 @@
+nrfjprog --family NRF52 --rbp ALL
+nrfjprog --family NRF52 --pinreset
+pause

project/ble_peripheral/ble_app_bladder_patch/download/etc/__fw_unprotect.bat

@@ -0,0 +1,2 @@
+nrfjprog --family NRF52 --recover
+pause

project/ble_peripheral/ble_app_bladder_patch/download/etc/__reset.bat

@@ -0,0 +1,2 @@
+nrfjprog --family NRF52 --pinreset
+pause

project/ble_peripheral/ble_app_bladder_patch/download/generate_dfu_zip.bat

@@ -0,0 +1,8 @@
+chcp 437
+set CURDIR=%cd%
+
+
+copy ..\pca10056\s140\arm5_no_packs\_build\nrf52840_xxaa.hex medithings_bladder_patch_0001.hex
+
+nrfutil pkg generate --application medithings_bladder_patch_0001.hex --application-version 1 --hw-version 52 --sd-req 0x0100 --sd-id 0x0100 --key-file private.key medithings_bladder_patch_dfu.zip
+pause

project/ble_peripheral/ble_app_bladder_patch/download/log.log

@@ -0,0 +1,413 @@
+[2025-Dec-02 21:41:39] [debug] --------------------------------------------------------------------------------
+[2025-Dec-02 21:41:39] [debug] nrfjprog --recover -s 682580999 --log 
+[2025-Dec-02 21:41:39] [debug] nrfjprog version 10.19.0 external
+[2025-Dec-02 21:41:39] [debug] --------------------------------------------------------------------------------
+[2025-Dec-02 21:41:39] [ info] Load library at d:\nrfutil\bin\nrfjprog.dll.
+[2025-Dec-02 21:41:39] [ info] Library loaded, loading member functions.
+[2025-Dec-02 21:41:39] [ info] Member functions succesfully loaded.
+[2025-Dec-02 21:41:39] [debug] [ Client] - open
+[2025-Dec-02 21:41:39] [debug] [ Client] - start
+[2025-Dec-02 21:41:39] [ info] [ Client] - stdout: Jlinkarm nRF Worker ready. Handling sequence 9216d55f-e6c3-46dc-87a3-92d9ff8623b1.
+
+[2025-Dec-02 21:41:39] [trace] [ Client] - Command open executed for 36 milliseconds with result 0
+[2025-Dec-02 21:41:39] [debug] [SeggerBackend] - Logger sink registered in Segger backend logger
+[2025-Dec-02 21:41:39] [debug] [ Client] - config
+[2025-Dec-02 21:41:39] [debug] [  JLink] - Logger sink registered in JLink logger
+[2025-Dec-02 21:41:39] [debug] [  nRFXX] - open
+[2025-Dec-02 21:41:39] [debug] [  nRFXX] - just_check_family
+[2025-Dec-02 21:41:39] [debug] [SeggerBackend] - open_dll
+[2025-Dec-02 21:41:39] [debug] [SeggerBackend] - No J-Link DLL path was provided. Attempting to auto detect.
+[2025-Dec-02 21:41:39] [ info] [SeggerBackend] - Load library at C:\Program Files\SEGGER\JLink_V818\JLinkARM.dll.
+[2025-Dec-02 21:41:39] [ info] [SeggerBackend] - Library loaded, loading member functions.
+[2025-Dec-02 21:41:39] [ info] [SeggerBackend] - Member functions succesfully loaded.
+[2025-Dec-02 21:41:39] [debug] [SeggerBackend] - Set batch mode
+[2025-Dec-02 21:41:39] [debug] [SeggerBackend] - dll_version
+[2025-Dec-02 21:41:39] [ info] [SeggerBackend] - Segger dll version 8.18.  loaded.
+[2025-Dec-02 21:41:39] [trace] [ Worker] - Command open executed for 4 milliseconds with result 0
+[2025-Dec-02 21:41:39] [trace] [ Client] - Command config executed for 15 milliseconds with result 0
+[2025-Dec-02 21:41:39] [debug] [ Client] - enum_emu_snr
+[2025-Dec-02 21:41:39] [debug] [  nRFXX] - config
+[2025-Dec-02 21:41:39] [debug] [SeggerBackend] - enum_emu_snr
+[2025-Dec-02 21:41:39] [trace] [ Worker] - Command config executed for 2 milliseconds with result 0
+[2025-Dec-02 21:41:39] [trace] [ Client] - Command enum_emu_con_info executed for 15 milliseconds with result 0
+[2025-Dec-02 21:41:39] [debug] [ Client] - connect_to_emu_with_snr
+[2025-Dec-02 21:41:39] [debug] [  nRFXX] - enum_emu_con_info
+[2025-Dec-02 21:41:39] [debug] [SeggerBackend] - is_connected_to_emu
+[2025-Dec-02 21:41:39] [debug] [SeggerBackend] - enum_emu_con_info
+[2025-Dec-02 21:41:39] [debug] [SeggerBackend] - is_connected_to_emu
+[2025-Dec-02 21:41:39] [trace] [ Worker] - Command enum_emu_con_info executed for 3 milliseconds with result 0
+[2025-Dec-02 21:41:39] [debug] [  nRFXX] - connect_to_emu_with_snr
+[2025-Dec-02 21:41:39] [debug] [SeggerBackend] - is_connected_to_emu
+[2025-Dec-02 21:41:39] [debug] [SeggerBackend] - connect_to_emu_with_snr
+[2025-Dec-02 21:41:39] [debug] [SeggerBackend] - is_connected_to_emu
+[2025-Dec-02 21:41:39] [debug] [SeggerBackend] - ---just_enum_emu_snr
+[2025-Dec-02 21:41:39] [debug] [SeggerBackend] - ---just_get_num_emus
+[2025-Dec-02 21:41:39] [debug] [SeggerBackend] - ---just_connect_to_emu_with_snr
+[2025-Dec-02 21:41:39] [debug] [SeggerBackend] - ---just_connect_to_emu_without_snr
+[2025-Dec-02 21:41:39] [debug] [SeggerBackend] - Segger logging enabled.
+[2025-Dec-02 21:41:39] [trace] [  JLink] - Firmware: J-Link OB-SAM3U128-V2-NordicSemi compiled Jul  8 2025 10:14:41
+[2025-Dec-02 21:41:39] [trace] [  JLink] - Firmware: J-Link OB-SAM3U128-V2-NordicSemi compiled Jul  8 2025 10:14:41
+[2025-Dec-02 21:41:39] [trace] [  JLink] - Hardware: V1.00
+[2025-Dec-02 21:41:39] [trace] [  JLink] - S/N: 682580999
+[2025-Dec-02 21:41:39] [trace] [  JLink] - OEM: SEGGER
+[2025-Dec-02 21:41:39] [trace] [  JLink] - Feature(s): RDI, FlashBP, FlashDL, JFlash, GDB
+[2025-Dec-02 21:41:39] [trace] [  JLink] - Bootloader: 2014 Sep 11
+[2025-Dec-02 21:41:39] [trace] [  JLink] - USB speed mode: High speed (480 MBit/s)
+[2025-Dec-02 21:41:39] [trace] [  JLink] - TELNET listener socket opened on port 19021
+[2025-Dec-02 21:41:39] [trace] [  JLink] - WEBSRV WEBSRV_Init(): Starting webserver thread(s)
+[2025-Dec-02 21:41:39] [trace] [  JLink] - WEBSRV Webserver running on local port 19080
+[2025-Dec-02 21:41:39] [trace] [  JLink] - Looking for J-Link GUI Server exe at: C:\Program Files\SEGGER\JLink_V818\JLinkGUIServer.exe 
+[2025-Dec-02 21:41:39] [trace] [  JLink] - Forking J-Link GUI Server: C:\Program Files\SEGGER\JLink_V818\JLinkGUIServer.exe 
+[2025-Dec-02 21:41:39] [trace] [  JLink] - J-Link GUI Server info: "J-Link GUI server V8.18 " 
+[2025-Dec-02 21:41:39] [trace] [  JLink] - - 37.124ms returns "O.K."  
+[2025-Dec-02 21:41:39] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:39] [trace] [  JLink] - JLINK_Lock()  
+[2025-Dec-02 21:41:39] [trace] [  JLink] - JLINK_ExecCommand("SetRestartOnClose = 0", ...).   
+[2025-Dec-02 21:41:39] [trace] [  JLink] - - 0.001ms returns 0x01  
+[2025-Dec-02 21:41:39] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:39] [trace] [  JLink] - JLINK_ExecCommand("DisableFlashDL", ...).   
+[2025-Dec-02 21:41:39] [trace] [  JLink] - - 0.000ms returns 0x00  
+[2025-Dec-02 21:41:39] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:39] [trace] [  JLink] - JLINK_ExecCommand("ExcludeFlashCacheRange 0x0-0xFFFFFFFF", ...).   
+[2025-Dec-02 21:41:39] [trace] [  JLink] - - 0.002ms returns 0x00  
+[2025-Dec-02 21:41:39] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:39] [trace] [  JLink] - JLINK_SetHookUnsecureDialog  
+[2025-Dec-02 21:41:39] [trace] [  JLink] - JLINK_SetHookUnsecureDialog(...)
+[2025-Dec-02 21:41:39] [trace] [  JLink] - - 0.010ms returns 0  
+[2025-Dec-02 21:41:39] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:39] [trace] [  JLink] - JLINK_TIF_Select(JLINKARM_TIF_SWD)  
+[2025-Dec-02 21:41:39] [trace] [  JLink] - - 0.479ms returns 0x00  
+[2025-Dec-02 21:41:39] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:39] [trace] [  JLink] - JLINK_GetSpeedInfo()  
+[2025-Dec-02 21:41:39] [trace] [  JLink] - 10000000 Hz / n, n >= 10
+[2025-Dec-02 21:41:39] [trace] [  JLink] - - 0.007ms   
+[2025-Dec-02 21:41:39] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:39] [debug] [SeggerBackend] - Connected emulator supports SWD speeds up to 1000kHz
+[2025-Dec-02 21:41:39] [debug] [SeggerBackend] - Requested speed 2000kHz is higher than the emulator max speed of 1000kHz
+[2025-Dec-02 21:41:39] [trace] [  JLink] - JLINK_SetSpeed(2000)  
+[2025-Dec-02 21:41:39] [trace] [  JLink] - - 0.046ms   
+[2025-Dec-02 21:41:39] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:39] [trace] [  JLink] - JLINK_GetSpeed()  
+[2025-Dec-02 21:41:39] [trace] [  JLink] - - 0.003ms returns 1000  
+[2025-Dec-02 21:41:39] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:39] [debug] [SeggerBackend] - SWD speed was reported as 1000kHz after requesting 2000kHz. Check the capabilities of the selected emulator.
+[2025-Dec-02 21:41:39] [trace] [  JLink] - JLINK_GetSN()  
+[2025-Dec-02 21:41:39] [trace] [  JLink] - - 0.003ms returns 682580999  
+[2025-Dec-02 21:41:39] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:39] [trace] [  JLink] - - 0.004ms   
+[2025-Dec-02 21:41:39] [debug] [  nRFXX] - read_device_family
+[2025-Dec-02 21:41:39] [debug] [  nRFXX] - read_device_family
+[2025-Dec-02 21:41:39] [debug] [SeggerBackend] - is_connected_to_emu
+[2025-Dec-02 21:41:39] [trace] [  JLink] - JLINK_IsOpen()  
+[2025-Dec-02 21:41:39] [trace] [  JLink] - - 0.003ms returns 0x01  
+[2025-Dec-02 21:41:39] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:39] [trace] [  JLink] - JLINK_Lock()  
+[2025-Dec-02 21:41:39] [debug] [SeggerBackend] - read_debug_port_idr
+[2025-Dec-02 21:41:39] [debug] [SeggerBackend] - read_debug_port_register
+[2025-Dec-02 21:41:39] [debug] [SeggerBackend] - ---just_read_debug_port_register
+[2025-Dec-02 21:41:39] [debug] [SeggerBackend] - coresight_configure
+[2025-Dec-02 21:41:39] [trace] [  JLink] - JLINK_GetHWStatus(...)  
+[2025-Dec-02 21:41:39] [trace] [  JLink] - - 0.137ms returns 0  
+[2025-Dec-02 21:41:39] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:39] [trace] [  JLink] - JLINK_CORESIGHT_Configure()  
+[2025-Dec-02 21:41:40] [trace] [ Client] - Command connect_to_emu_with_snr executed for 188 milliseconds with result -102
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 104.594ms returns 0  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [debug] [SeggerBackend] - read_debug_port_idr
+[2025-Dec-02 21:41:40] [debug] [SeggerBackend] - read_debug_port_register
+[2025-Dec-02 21:41:40] [debug] [SeggerBackend] - ---just_read_debug_port_register
+[2025-Dec-02 21:41:40] [debug] [SeggerBackend] - ---just_select_debug_port_register
+[2025-Dec-02 21:41:40] [debug] [SeggerBackend] - Select AP 255, DP Bank 0, AP Bank 255
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x02, 0x00000000)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.793ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [debug] [SeggerBackend] - ---just_abort_debug_action
+[2025-Dec-02 21:41:40] [debug] [SeggerBackend] - Attempting to clear any configuration errors in debug port before closing connection. 
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.780ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.970ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.732ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.740ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.736ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x02, 0x00000000)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.698ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [debug] [SeggerBackend] - ---just_abort_debug_action
+[2025-Dec-02 21:41:40] [debug] [SeggerBackend] - Attempting to clear any configuration errors in debug port before closing connection. 
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.741ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.721ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.726ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.707ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.703ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x02, 0x00000000)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.716ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [debug] [SeggerBackend] - ---just_abort_debug_action
+[2025-Dec-02 21:41:40] [debug] [SeggerBackend] - Attempting to clear any configuration errors in debug port before closing connection. 
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.728ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.727ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.760ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.765ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.722ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x02, 0x00000000)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.723ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [debug] [SeggerBackend] - ---just_abort_debug_action
+[2025-Dec-02 21:41:40] [debug] [SeggerBackend] - Attempting to clear any configuration errors in debug port before closing connection. 
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.734ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.711ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.715ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.714ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.710ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x02, 0x00000000)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.716ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [debug] [SeggerBackend] - ---just_abort_debug_action
+[2025-Dec-02 21:41:40] [debug] [SeggerBackend] - Attempting to clear any configuration errors in debug port before closing connection. 
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.750ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.718ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.849ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.744ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.761ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.040ms   
+[2025-Dec-02 21:41:40] [trace] [ Worker] - Command connect_to_emu_with_snr executed for 187 milliseconds with result -102
+[2025-Dec-02 21:41:40] [debug] [  nRFXX] - close
+[2025-Dec-02 21:41:40] [debug] [SeggerBackend] - is_connected_to_emu
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_IsOpen()  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.005ms returns 0x01  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_Lock()  
+[2025-Dec-02 21:41:40] [debug] [SeggerBackend] - close
+[2025-Dec-02 21:41:40] [debug] [SeggerBackend] - disconnect_from_emu
+[2025-Dec-02 21:41:40] [debug] [SeggerBackend] - ---just_disconnect_from_emu
+[2025-Dec-02 21:41:40] [debug] [SeggerBackend] - is_connected_to_device
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_IsConnected()  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.003ms returns FALSE  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [debug] [SeggerBackend] - ---just_is_debug_region_powered
+[2025-Dec-02 21:41:40] [debug] [SeggerBackend] - ---just_read_debug_port_register
+[2025-Dec-02 21:41:40] [debug] [SeggerBackend] - ---just_select_debug_port_register
+[2025-Dec-02 21:41:40] [debug] [SeggerBackend] - Select AP 255, DP Bank 0, AP Bank 255
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x02, 0x00000000)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.733ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [debug] [SeggerBackend] - ---just_abort_debug_action
+[2025-Dec-02 21:41:40] [debug] [SeggerBackend] - Attempting to clear any configuration errors in debug port before closing connection. 
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.759ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.720ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.772ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.740ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.725ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x02, 0x00000000)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.734ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [debug] [SeggerBackend] - ---just_abort_debug_action
+[2025-Dec-02 21:41:40] [debug] [SeggerBackend] - Attempting to clear any configuration errors in debug port before closing connection. 
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.746ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.738ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.735ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.746ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.723ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x02, 0x00000000)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.717ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [debug] [SeggerBackend] - ---just_abort_debug_action
+[2025-Dec-02 21:41:40] [debug] [SeggerBackend] - Attempting to clear any configuration errors in debug port before closing connection. 
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.753ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.737ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.741ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.818ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.725ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x02, 0x00000000)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.717ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [debug] [SeggerBackend] - ---just_abort_debug_action
+[2025-Dec-02 21:41:40] [debug] [SeggerBackend] - Attempting to clear any configuration errors in debug port before closing connection. 
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.704ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.727ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.711ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.686ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.719ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x02, 0x00000000)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.721ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [debug] [SeggerBackend] - ---just_abort_debug_action
+[2025-Dec-02 21:41:40] [debug] [SeggerBackend] - Attempting to clear any configuration errors in debug port before closing connection. 
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.760ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.786ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.739ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.764ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_CORESIGHT_WriteAPDPReg(DP reg 0x00, 0x0000001F)  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.793ms returns -1  
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_HasError()  
+[2025-Dec-02 21:41:40] [error] [SeggerBackend] - JLinkARM.dll reported "-1", "An unknown error.".
+[2025-Dec-02 21:41:40] [trace] [  JLink] - - 0.028ms   
+[2025-Dec-02 21:41:40] [trace] [  JLink] - JLINK_Close()  
+[2025-Dec-02 21:41:40] [debug] [SeggerBackend] - Segger Backend closed.
+[2025-Dec-02 21:41:40] [debug] [  nRFXX] - nRF family DLL closed
+[2025-Dec-02 21:41:40] [trace] [ Worker] - Command close executed for 60 milliseconds with result 0
+[2025-Dec-02 21:41:40] [trace] [ Client] - Command close executed for 61 milliseconds with result 0
+[2025-Dec-02 21:41:40] [debug] [ Client] - terminate
+[2025-Dec-02 21:41:40] [trace] [ Client] - Command terminate executed for 0 milliseconds with result 0
+[2025-Dec-02 21:41:40] [trace] [ Worker] - Command terminate executed for 0 milliseconds with result 0
+[2025-Dec-02 21:41:40] [trace] [ Worker] - Executed 6 commands for 256 milliseconds
+[2025-Dec-02 21:41:40] [debug] [ Client] - Worker process exited with code: 0
+[2025-Dec-02 21:41:40] [debug] [ Client] - Worker process exited with code: 0
+[2025-Dec-02 21:41:40] [debug] [ Client] - Child process terminated with result 0
+[2025-Dec-02 21:41:40] [trace] [ Client] - Executed 6 commands for 315 milliseconds

project/ble_peripheral/ble_app_bladder_patch/download/private.key

@@ -0,0 +1,5 @@
+-----BEGIN EC PRIVATE KEY-----
+MHcCAQEEIHf/LPF4rHM8BNLwocN5rRNXA7nxqMZytmagH4csLaBUoAoGCCqGSM49
+AwEHoUQDQgAE1ZAavjWbKjEoGnKJm65rdtwnIIG8F15sg2pw5QPLW2f6iAh24ig+
+A8fY5qAD1vbELamAp4bYO9daX3m1OSRL7A==
+-----END EC PRIVATE KEY-----

project/ble_peripheral/ble_app_bladder_patch/hal/fds/fstorage.c

@@ -0,0 +1,456 @@
+/*==============================================================================
+ * fstorage.c - FDS (Flash Data Storage) configuration module
+ *
+ * Stores and loads device configuration to/from nRF52840 internal flash,
+ * replacing external EEPROM. Coexists safely with the SoftDevice.
+ *
+ * Record management:
+ *   CONFIG_FILE = 0x8010, CONFIG_REC_KEY = 0x7010 (single record)
+ *
+ * Magic number validation:
+ *   Data loaded from flash is checked against CONFIG_MAGIC_NUMBER_VALUE.
+ *   Mismatch -> reinitialise with factory defaults.
+ *
+ * FDS event post-processing:
+ *   After a write/update completes, pending actions are executed:
+ *   power-off (go_device_power_off), sleep (go_sleep_mode_enter),
+ *   system reset (go_NVIC_SystemReset).
+ *============================================================================*/
+
+#include "sdk_config.h"
+
+#include <string.h>
+
+#include "app_error.h"
+#include "boards.h"
+#include "nrf_fstorage.h"
+#include "nrf_soc.h"
+#include "nrf_strerror.h"
+#include "sdk_config.h"
+#include "nrf_fstorage_sd.h"
+#include "nrf_delay.h"
+#include "ble_gap.h"
+#include "fds.h"
+
+#include "nrf_log.h"
+#include "nrf_log_ctrl.h"
+#include "nrf_log_default_backends.h"
+
+#include "fstorage.h"
+#include "nrf_pwr_mgmt.h"
+#include "main.h"
+#include "debug_print.h"
+
+
+/* FDS record identifiers */
+#define CONFIG_FILE     (0x8010)
+#define CONFIG_REC_KEY  (0x7010)
+
+/* Magic number used to validate stored data */
+#define CONFIG_MAGIC_NUMBER_VALUE          (0x20260319)
+
+/* Global configuration instance */
+config_data_t m_config;
+
+/* Post-processing flags (declared in main.c) */
+extern bool go_device_power_off;
+extern bool go_sleep_mode_enter;
+extern bool go_NVIC_SystemReset;
+
+/* FDS initialisation complete flag (set in fds_evt_handler) */
+static bool volatile m_fds_initialized;
+
+/* FDS write-in-progress flag */
+bool fds_flag_write = false;
+
+/* FDS record template pointing to m_config */
+static fds_record_t const m_dummy_record =
+{
+    .file_id           = CONFIG_FILE,
+    .key               = CONFIG_REC_KEY,
+    .data.p_data       = (void const *)&m_config,
+    /* The length of a record is always expressed in 4-byte units (words). */
+    .data.length_words = (sizeof(m_config) + 3) / sizeof(uint32_t),
+};
+
+
+/* Default values */
+int8_t  reset_status_dflt = 99;
+uint8_t static_passkey_dflt[6] = DEFAULT_PASSKEY;
+
+/*==============================================================================
+ * fds_default_value_set - Initialise m_config with factory defaults
+ *
+ * Called when flash contains no valid configuration or the magic number
+ * does not match.
+ *============================================================================*/
+void fds_default_value_set(void)
+{
+    /* HW number */
+    memset(m_config.hw_no, 0, 12);
+    memcpy(m_config.hw_no, HARDWARE_VERSION, strlen(HARDWARE_VERSION));
+
+    /* Serial number */
+    memset(m_config.serial_no, 0, 12);
+    memcpy(m_config.serial_no, SERIAL_NUMBER, strlen(SERIAL_NUMBER));
+
+    /* Static passkey */
+    memcpy(m_config.static_passkey, static_passkey_dflt, 6);
+
+    /* Bond delete — default: no pending delete */
+    m_config.bond_data_delete = 0;
+
+    /* Reset status */
+    m_config.reset_status = reset_status_dflt;
+
+    /* Device usage count */
+    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 */
+
+    /* Factory provisioning — default: not provisioned */
+    m_config.factory_provisioned = 0;
+}
+
+
+/* Last FDS event ID (for debugging) */
+static volatile uint8_t fds_last_evt = 0xFF;
+
+/*==============================================================================
+ * fds_evt_handler - FDS event callback
+ *
+ * FDS_EVT_INIT   : initialisation complete -> set m_fds_initialized
+ * FDS_EVT_WRITE  : new record written       -> clear fds_flag_write
+ * FDS_EVT_UPDATE : record updated            -> clear flag, then execute any
+ *                  pending power-off / sleep / system reset
+ *============================================================================*/
+static void fds_evt_handler( fds_evt_t const *p_evt )
+{
+    fds_last_evt = p_evt->id;
+
+    switch (p_evt->id)
+    {
+        case FDS_EVT_INIT:
+            if (p_evt->result == NRF_SUCCESS)
+            {
+                m_fds_initialized = true;
+            }
+            break;
+
+        case FDS_EVT_WRITE:
+            fds_flag_write = false;
+            break;
+
+        case FDS_EVT_UPDATE:
+            fds_flag_write = false;
+
+            if (go_device_power_off == true)
+            {
+                device_power_off();
+            }
+            if (go_sleep_mode_enter == true)
+            {
+                sleep_mode_enter();
+            }
+            if (go_NVIC_SystemReset == true)
+            {
+                DBG_PRINTF("Off FDS_EVENT\r\n");
+                NVIC_SystemReset();
+            }
+            break;
+
+        case FDS_EVT_DEL_RECORD:
+            break;
+
+        case FDS_EVT_DEL_FILE:
+            break;
+
+        case FDS_EVT_GC:
+            break;
+
+        default:
+            break;
+    }
+}
+
+
+/*==============================================================================
+ * wait_for_fds_ready - Block until FDS initialisation completes
+ *
+ * Times out after 3 seconds with an error log.
+ *============================================================================*/
+static void wait_for_fds_ready( void )
+{
+    uint32_t timeout = 0;
+    while(!m_fds_initialized)
+    {
+        nrf_pwr_mgmt_run();
+        nrf_delay_ms(1);
+        timeout++;
+        if (timeout > 3000)
+        {
+            DBG_PRINTF("[FDS] TIMEOUT!\r\n");
+            break;
+        }
+    }
+}
+
+
+/*==============================================================================
+ * config_load - Load configuration from FDS
+ *
+ * Flow:
+ * 1. Search for CONFIG_FILE / CONFIG_REC_KEY (retry up to 10x, 100 ms apart)
+ * 2. If found:
+ *    - Open the record (on CRC error: delete and regenerate defaults)
+ *    - Copy into m_config
+ *    - Validate magic number; on mismatch: delete -> defaults -> rewrite
+ * 3. If not found:
+ *    - Write factory defaults as a new record, then reload
+ *============================================================================*/
+void config_load( void )
+{
+    ret_code_t rc;
+    fds_record_desc_t desc = { 0 };
+    fds_find_token_t  tok  = { 0 };
+    uint8_t cfg_retry = 0;
+    uint32_t fds_wait_cnt = 0;
+
+ cfg_load_start:
+    memset((char *)&desc, 0, sizeof(desc));
+    memset((char *)&tok, 0, sizeof(tok));
+    rc = fds_record_find(CONFIG_FILE, CONFIG_REC_KEY, &desc, &tok);
+    DBG_PRINTF("[FDS] find rc=%u\r\n", rc);
+
+    /* FDS may not be fully ready yet - retry before writing defaults */
+    if (rc != NRF_SUCCESS && cfg_retry < 10)
+    {
+        cfg_retry++;
+        DBG_PRINTF("[FDS] retry %u/10\r\n", cfg_retry);
+        nrf_delay_ms(100);
+        goto cfg_load_start;
+    }
+
+    if (rc == NRF_SUCCESS)
+    {
+        fds_flash_record_t config = { 0 };
+
+        rc = fds_record_open(&desc, &config);
+        if (rc != NRF_SUCCESS)
+        {
+            /* CRC error or corrupt record - delete and use defaults */
+            DBG_PRINTF("[FDS] open ERR=%u, deleting\r\n", rc);
+            (void)fds_record_delete(&desc);
+            fds_gc();
+            fds_default_value_set();
+            goto cfg_load_write_new;
+        }
+
+        memcpy(&m_config, config.p_data, sizeof(config_data_t));
+
+        rc = fds_record_close(&desc);
+        APP_ERROR_CHECK(rc);
+
+        DBG_PRINTF("[FDS] magic=0x%08X (expect 0x%08X)\r\n", m_config.magic_number, CONFIG_MAGIC_NUMBER_VALUE);
+
+        if (m_config.magic_number != (uint32_t)CONFIG_MAGIC_NUMBER_VALUE)
+        {
+            DBG_PRINTF("[FDS] FORMAT! overwriting with defaults\r\n");
+            rc = fds_record_delete(&desc);
+            APP_ERROR_CHECK(rc);
+            m_config.magic_number = CONFIG_MAGIC_NUMBER_VALUE;
+
+            fds_default_value_set();
+
+            rc = fds_record_update(&desc, &m_dummy_record);
+            if ((rc != NRF_SUCCESS) && (rc == FDS_ERR_NO_SPACE_IN_FLASH))
+            {
+                rc = fds_gc();
+                APP_ERROR_CHECK(rc);
+            }
+            else
+            {
+                APP_ERROR_CHECK(rc);
+            }
+            goto cfg_load_start;
+        }
+        DBG_PRINTF("[FDS] Loaded OK\r\n");
+    }
+    else
+    {
+        cfg_load_write_new:
+        DBG_PRINTF("[FDS] New - writing defaults\r\n");
+        m_config.magic_number = CONFIG_MAGIC_NUMBER_VALUE;
+
+        fds_default_value_set();
+
+        fds_flag_write = true;
+        rc = fds_record_write(&desc, &m_dummy_record);
+
+        if (rc != NRF_SUCCESS)
+        {
+            DBG_PRINTF("[FDS] Write ERR=%u\r\n", rc);
+            fds_flag_write = false;
+        }
+
+        fds_wait_cnt = 0;
+
+        while (fds_flag_write && fds_wait_cnt < 3000)  /* 3 second timeout */
+        {
+            nrf_pwr_mgmt_run();
+            nrf_delay_ms(1);
+            fds_wait_cnt++;
+        }
+
+        if (fds_flag_write)
+        {
+            DBG_PRINTF("[FDS] write TIMEOUT! forcing flag clear\r\n");
+            fds_flag_write = false;
+        }
+
+        if ((rc != NRF_SUCCESS) && (rc == FDS_ERR_NO_SPACE_IN_FLASH))
+        {
+            rc = fds_gc();
+            APP_ERROR_CHECK(rc);
+        }
+        else
+        {
+            APP_ERROR_CHECK(rc);
+        }
+
+        NRF_LOG_FLUSH();
+        goto cfg_load_start;
+    }
+}
+
+
+/*==============================================================================
+ * config_save - Persist current configuration to FDS
+ *
+ * Flow:
+ * 1. If a previous FDS write is in progress, wait up to 3 seconds
+ * 2. Fix magic number if needed
+ * 3. If existing record found: fds_record_update()
+ *    - On no-space: GC then retry
+ * 4. If not found: fds_record_write() (new record)
+ *
+ * Write completion is asynchronous (fds_evt_handler). Post-processing
+ * (power-off / sleep / reset) may follow.
+ *============================================================================*/
+void config_save( void )
+{
+    ret_code_t rc;
+    fds_record_desc_t desc = { 0 };
+    fds_find_token_t  tok  = { 0 };
+
+    DBG_PRINTF("[CFG_SAVE] start\r\n");
+
+    /* Wait for any previous FDS operation to complete */
+    if (fds_flag_write)
+    {
+        uint32_t wait_cnt = 0;
+
+        DBG_PRINTF("[CFG_SAVE] waiting for prev FDS op...\r\n");
+        while (fds_flag_write && wait_cnt < 3000)
+        {
+            nrf_pwr_mgmt_run();
+            nrf_delay_ms(1);
+            wait_cnt++;
+        }
+        if (fds_flag_write)
+        {
+            DBG_PRINTF("[CFG_SAVE] TIMEOUT! forcing flag clear\r\n");
+            fds_flag_write = false;
+        }
+    }
+
+    if (m_config.magic_number != (uint32_t)CONFIG_MAGIC_NUMBER_VALUE)
+    {
+        m_config.magic_number = CONFIG_MAGIC_NUMBER_VALUE;
+    }
+
+    memset((char *)&desc, 0, sizeof(desc));
+    memset((char *)&tok, 0, sizeof(tok));
+    rc = fds_record_find(CONFIG_FILE, CONFIG_REC_KEY, &desc, &tok);
+    DBG_PRINTF("[CFG_SAVE] find rc=%u\r\n", rc);
+
+    if (rc == NRF_SUCCESS)
+    {
+        fds_flag_write = true;
+        rc = fds_record_update(&desc, &m_dummy_record);
+        DBG_PRINTF("[CFG_SAVE] update rc=%u\r\n", rc);
+
+        if (rc == FDS_ERR_NO_SPACE_IN_FLASH)
+        {
+            fds_flag_write = false;
+            rc = fds_gc();
+            DBG_PRINTF("[CFG_SAVE] gc rc=%u, retry\r\n", rc);
+            fds_flag_write = true;
+            rc = fds_record_update(&desc, &m_dummy_record);
+            DBG_PRINTF("[CFG_SAVE] retry rc=%u\r\n", rc);
+        }
+
+        if (rc != NRF_SUCCESS)
+        {
+            DBG_PRINTF("[CFG_SAVE] FAIL rc=%u\r\n", rc);
+            fds_flag_write = false;
+        }
+    }
+    else
+    {
+        DBG_PRINTF("[CFG_SAVE] not found, writing new\r\n");
+        fds_flag_write = true;
+        rc = fds_record_write(&desc, &m_dummy_record);
+        DBG_PRINTF("[CFG_SAVE] write rc=%u\r\n", rc);
+
+        if ( rc != NRF_SUCCESS )
+        {
+            DBG_PRINTF("[CFG_SAVE] FAIL rc=%u\r\n", rc);
+            fds_flag_write = false;
+        }
+    }
+
+    DBG_PRINTF("[CFG_SAVE] done\r\n");
+}
+
+
+/*==============================================================================
+ * fs_set_value - Wrapper for config_load()
+ *============================================================================*/
+void fs_set_value(void)
+{
+    config_load();
+}
+
+/*==============================================================================
+ * fs_storage_init - Initialise FDS
+ *
+ * Called once at boot:
+ * 1. Register event handler
+ * 2. Start FDS initialisation
+ * 3. Wait for completion (up to 3 seconds)
+ * 4. Verify flash stats
+ *============================================================================*/
+void fs_storage_init(void)
+{
+    ret_code_t rc;
+
+    rc = fds_register(fds_evt_handler);
+    APP_ERROR_CHECK(rc);
+
+    rc = fds_init();
+    APP_ERROR_CHECK(rc);
+
+    wait_for_fds_ready();
+
+    fds_stat_t stat = { 0 };
+    rc = fds_stat(&stat);
+    APP_ERROR_CHECK(rc);
+
+    DBG_PRINTF("[FDS] OK\r\n");
+}

project/ble_peripheral/ble_app_bladder_patch/hal/fds/fstorage.h

@@ -0,0 +1,83 @@
+/*==============================================================================
+ * fstorage.h - FDS (Flash Data Storage) configuration module interface
+ *
+ * Stores and loads device configuration to/from the nRF52840 internal flash
+ * via the Nordic FDS library. Replaces external EEPROM and coexists safely
+ * with the SoftDevice.
+ *
+ * config_data_t (49 bytes, packed):
+ *   magic_number  (4B) : format validation (0x20231226)
+ *   hw_no         (12B): hardware version string
+ *   serial_no     (12B): serial number (also used as BLE device name)
+ *   static_passkey(6B) : BLE pairing passkey (6-digit numeric)
+ *   bond_data_delete(1B): bond-delete flag
+ *   reset_status  (1B) : reset cause code
+ *   life_cycle    (4B) : device usage count
+ *   piezo_*       (8B) : piezo measurement parameters
+ *   factory_provisioned(1B): passkey provisioning lock flag
+ *
+ * API:
+ *   fs_storage_init() : initialise FDS (once at boot)
+ *   config_load()     : load config from FDS (creates defaults if absent)
+ *   config_save()     : persist current config to FDS
+ *============================================================================*/
+
+#ifndef IHP_FSTORAGE_H_
+#define IHP_FSTORAGE_H_
+
+#include "sdk_config.h"
+
+#include "nordic_common.h"
+#include <stdint.h>
+
+/*------------------------------------------------------------------------------
+ * Default version identifiers (used for FDS defaults / empty field recovery)
+ *
+ * Hardware ID:
+ *   VBTHW0100  = development / test  Ver 1.00
+ *   VB0HW0100  = production          Ver 1.00
+ *
+ * Firmware ID:
+ *   VBTFW0100  = development / test  Ver 1.00
+ *   VB0FW0100  = production          Ver 1.00
+ *
+ * Serial number:
+ *   VBT26030001 = dev/test, manufactured Mar 2026, unit #1
+ *   VB026030001 = production,          Mar 2026, unit #1
+ *----------------------------------------------------------------------------*/
+#define HARDWARE_VERSION                "VBTHW0100"
+#define SERIAL_NUMBER                   "VBT26030001"
+#define DEFAULT_PASSKEY                 "123456"
+
+#pragma pack(1)
+typedef struct
+{
+    uint32_t    magic_number;       /* 4B  - format validation magic */
+    char        hw_no[12];          /* 12B - HW version */
+    char        serial_no[12];      /* 12B - serial number */
+    uint8_t     static_passkey[6];  /* 6B  - BLE passkey */
+    uint8_t     bond_data_delete;   /* 1B  - bond delete flag */
+    int8_t      reset_status;       /* 1B  - reset status */
+    uint32_t    life_cycle;         /* 4B  - device usage count */
+
+    /* Piezo measurement parameters - 8B */
+    uint8_t     piezo_freq_option;  /* 1B  - TX pulse frequency (0=1.8M, 1=2.1M, 2=2.0M, 3=1.7M) */
+    uint8_t     piezo_cycles;       /* 1B  - burst pulse cycle count (3..7) */
+    uint16_t    piezo_averaging;    /* 2B  - averages per channel (1..10) */
+    uint16_t    piezo_delay_us;     /* 2B  - delay from TX pulse to ADC start (us) (0..30) */
+    uint16_t    piezo_num_samples;  /* 2B  - ADC sample count (80..140) */
+
+    /* Factory provisioning lock */
+    uint8_t     factory_provisioned; /* 1B  - 0=passkey not set, 1=passkey set (locked) */
+} config_data_t;  /* Total: 49 bytes */
+
+extern config_data_t m_config;
+
+void fds_default_value_set(void);
+void config_load( void );
+void config_save( void );
+
+void fs_set_value(void);
+void fs_storage_init(void);
+
+#endif /* IHP_FSTORAGE_H_ */

project/ble_peripheral/ble_app_bladder_patch/hal/i2c/i2c_manager.c

@@ -0,0 +1,125 @@
+/*==============================================================================
+ * i2c_manager.c - HW / SW I2C mutex switching logic
+ *
+ * Manages mutually-exclusive HW (TWI peripheral) and SW (bit-bang) I2C modes.
+ *
+ * HW I2C : nRF52840 TWI hardware, 400 kHz Fast Mode (ICM42670P IMU)
+ * SW I2C : GPIO bit-bang (legacy, currently unused)
+ *
+ * Pins:
+ *   SCL = P1.14 (ICM42670_I2C_SCL_PIN)
+ *   SDA = P1.15 (ICM42670_I2C_SDA_PIN)
+ *
+ * The two bool flags HW_I2C_FRQ and SW_I2C_FRQ track the current mode.
+ * Switching releases the old mode's resources before initialising the new one.
+ *============================================================================*/
+
+#include "i2c_manager.h"
+#include "debug_print.h"
+#include "nrf_delay.h"
+
+#include "nrf_drv_twi.h"
+#include "nrfx_twi.h"
+#include "boards.h"
+#include "system_interface.h"
+
+/* Current I2C mode flags */
+bool HW_I2C_FRQ = true;
+bool SW_I2C_FRQ = false;
+
+/* TWI instance (nRF52840 supports TWI0 and TWI1) */
+#define TWI_INSTANCE 0
+const nrfx_twi_t m_twi = NRFX_TWI_INSTANCE(TWI_INSTANCE);
+
+/* Disable and uninitialise the TWI peripheral, releasing GPIO pins. */
+static void twi_uninitialize(void)
+{
+    nrfx_twi_disable(&m_twi);
+    nrfx_twi_uninit(&m_twi);
+}
+
+/* Initialise the TWI peripheral (SCL/SDA pins, 400 kHz, blocking mode). */
+static void twi_initialize(void)
+{
+    ret_code_t err_code;
+
+    const nrfx_twi_config_t twi_config =
+    {
+       .scl                = ICM42670_I2C_SCL_PIN,
+       .sda                = ICM42670_I2C_SDA_PIN,
+       .frequency          = NRF_TWI_FREQ_400K,
+       .interrupt_priority = APP_IRQ_PRIORITY_HIGH,
+    };
+
+    err_code = nrfx_twi_init(&m_twi, &twi_config, NULL, NULL);
+    APP_ERROR_CHECK(err_code);
+
+    nrfx_twi_enable(&m_twi);
+}
+
+/*==============================================================================
+ * hw_i2c_init_once - Switch to or initialise HW TWI mode
+ *
+ * If SW mode is active, its flag is cleared first.
+ * If HW mode is already active, returns immediately (no re-init).
+ *============================================================================*/
+void hw_i2c_init_once(void)
+{
+    if (SW_I2C_FRQ)
+    {
+        SW_I2C_FRQ = false;
+        nrf_delay_ms(2);   /* mode-switch settling */
+    }
+
+    if (HW_I2C_FRQ)
+    {
+        return;
+    }
+
+    twi_initialize();
+    nrf_delay_ms(2);
+
+    HW_I2C_FRQ = true;
+    SW_I2C_FRQ = false;
+}
+
+/*==============================================================================
+ * sw_i2c_init_once - Switch to SW bit-bang mode (legacy, unused)
+ *
+ * If HW mode is active, TWI is released first.
+ * If SW mode is already active, returns immediately.
+ *============================================================================*/
+void sw_i2c_init_once(void)
+{
+    if (HW_I2C_FRQ)
+    {
+        nrfx_twi_disable(&m_twi);
+        nrfx_twi_uninit(&m_twi);
+        nrf_delay_ms(2);
+        HW_I2C_FRQ = false;
+    }
+
+    if (SW_I2C_FRQ)
+    {
+        return;
+    }
+
+    twi_uninitialize();
+    nrf_delay_ms(1);
+
+    SW_I2C_FRQ = true;
+    HW_I2C_FRQ = false;
+}
+
+/*==============================================================================
+ * i2c_reset_state - Clear all mode flags
+ *
+ * Forces re-initialisation on the next init call. Used for system reset
+ * or error recovery.
+ *============================================================================*/
+void i2c_reset_state(void)
+{
+    HW_I2C_FRQ = false;
+    SW_I2C_FRQ = false;
+    DBG_PRINTF("Flags reset\r\n");
+}

project/ble_peripheral/ble_app_bladder_patch/hal/i2c/i2c_manager.h

@@ -0,0 +1,31 @@
+/*==============================================================================
+ * i2c_manager.h - HW / SW I2C mutex control
+ *
+ * Manages the mutually-exclusive HW TWI and SW bit-bang I2C modes.
+ * Only one mode may be active at a time.
+ *
+ * Flags:
+ *   HW_I2C_FRQ : true when HW TWI mode is active
+ *   SW_I2C_FRQ : true when SW bit-bang mode is active
+ *============================================================================*/
+#ifndef __I2C_MANAGER_H__
+#define __I2C_MANAGER_H__
+
+#include <stdbool.h>
+#include "app_error.h"
+
+extern bool HW_I2C_FRQ;
+extern bool SW_I2C_FRQ;
+
+/* Initialise HW I2C (TWI) mode. If SW mode is active it is released first.
+ * No-op if HW mode is already active. Call before ICM42670P IMU access. */
+void hw_i2c_init_once(void);
+
+/* Initialise SW I2C (bit-bang) mode (legacy, currently unused).
+ * If HW mode is active it is released first. */
+void sw_i2c_init_once(void);
+
+/* Reset both mode flags to false, forcing re-initialisation on next call. */
+void i2c_reset_state(void);
+
+#endif

project/ble_peripheral/ble_app_bladder_patch/main.h

@@ -0,0 +1,182 @@
+/*******************************************************************************
+ * @file	main.h
+ * @author	CandyPops Co.
+ * @version	V1.0.0
+ * @date	2022-09-05
+ * @brief   VesiScan BASIC main header file
+ *
+ * [System Overview]
+ * VesiScan BASIC is an nRF52840-based BLE bladder monitoring patch device.
+ * This header defines enums, function declarations, and global variables used system-wide.
+ *
+ * [Communication]
+ * - BLE NUS (Nordic UART Service): binary protocol with smartphone app
+ * - Physical UART (1Mbps): debug and factory testing
+ *
+ * [Data Transmission Flow]
+ * 1. Receive command from app/UART -> received_command_process()
+ * 2. Collect sensor data (battery, temperature, IMU, pressure)
+ * 3. Build binary packets via format_data() family
+ * 4. Transmit over BLE with CRC16 appended via dr_binary_tx_safe()
+ ******************************************************************************/
+
+#ifndef MAIN_H__
+#define MAIN_H__
+
+/* -------------------------------------------------------------------------
+* Firmware Identification Code
+*   - VBTFW0100 = Development (test) build Ver 1.00
+*   - VB0FW0100 = Production build Ver 1.00
+*
+* Firmware Version Update History
+*   - VBTFW0101 : Merged reb+red packets (single packet per channel), 260330 jhChun
+*   - VBTFW0102 : Added LED state command (msl) and re-pairing support, 260331 jhChun
+*   - VBTFW0103 260416 jhChun
+*      : Stabilized ADC measurement by clearing buffers before sampling.
+*      : Improved low-battery detection and automatic power-off handling.
+*      : Updated BLE security, bonding, and advertising timeout behavior.
+*      : Cleaned up command parsing and removed unused project files.
+*   - VBTFW0111 260422 jhChun : Updated firmware version for test.
+------------------------------------------------------------------------- */
+#define FIRMWARE_VERSION                "VBTFW0111"
+
+/*==============================================================================
+ * Data Length Constants
+ *============================================================================*/
+#define SERIAL_NO_LENGTH                12      /* Serial number length (e.g. "VB026030000") */
+#define HW_NO_LENGTH                    12      /* Hardware number (version) length */
+#define PASSKEY_LENGTH                  6       /* BLE pairing passkey length (6 digits) */
+
+#include <stdio.h>
+#include <stdint.h>
+#include <string.h>
+#include <stdarg.h>
+#include <stdbool.h>
+#include "boards.h"
+
+/*==============================================================================
+ * Enum Definitions
+ *============================================================================*/
+
+/* Device ON/OFF control enum (EEPROM, power, etc.) */
+typedef enum
+{
+    OFF	= 0,        /* Off */
+    ON	= 1         /* On */
+}on_off_cont_t;
+
+/* Command source identifier (BLE or UART) */
+typedef enum
+{
+    CMD_BLE		= 0,    /* Command received via BLE NUS */
+    CMD_UART	= 1     /* Command received via physical UART */
+}which_cmd_t;
+
+/* Chamber auto-test mode (when FEATURE_CHAMBER_AUTO_TEST enabled) */
+#if FEATURE_CHAMBER_AUTO_TEST
+typedef enum
+{
+	SIMPLE_AUTO_MODE 	= 0,    /* Simple auto mode */
+    HALF_AUTO_MODE		= 1,    /* Semi-auto mode */
+    FULL_AUTO_MODE		= 2,    /* Full auto mode */
+    NONE_AUTO_MODE		= 3     /* No auto mode */
+}auto_meas_mode_t;
+#endif
+
+/* BLE connection state */
+typedef enum
+{
+    BLE_DISCONNECTED_ST 	= 0,    /* BLE disconnected */
+    BLE_CONNECTED_ST		= 1     /* BLE connected */
+}ble_status_t;
+
+/*==============================================================================
+ * Function Declarations
+ *============================================================================*/
+
+#if FEATURE_SECURE_CONNECTION
+/* Start BLE advertising (if erase_bonds=true, delete bond info first) */
+static void advertising_start(bool erase_bonds);
+#endif
+
+/* Enter sleep mode: show LED, then power off after POWER_OFF_DELAY (3s) */
+void sleep_mode_enter(void);
+
+/* Power-off timer callback: physically cut power after POWER_OFF_DELAY */
+static void t_power_off_timeout_handler(void * p_context);
+
+/* Device power off: show LED, then delayed power cut via timer */
+void device_power_off(void);
+
+/* Power control handler: physical power ON/OFF via POWER_HOLD pin */
+static void power_control_handler(on_off_cont_t device_power_st);
+
+/* Power button state machine (timer callback, 5ms interval):
+ * - Short press (<1.5s): power OFF
+ * - Medium press (1.5s~10s): start boot sequence
+ * - Long press (>10s): factory reset (passkey reset + power OFF) */
+static void main_s(void * p_context);
+
+/* Peer Manager timer callback: force BLE disconnect if reset_status==5 */
+static void PM_s(void * p_context);
+
+//static void main_re(void * p_context);
+
+/* Main routine handler (legacy, currently unused) */
+static void main_routine_handler(void * p_context);
+
+/*------------------------------------------------------------------------------
+ * Data Transmission Functions
+ *----------------------------------------------------------------------------*/
+
+/* Send ASCII text over BLE (up to '\r', CRC16 appended automatically) */
+void data_tx_handler(char const *p_data_to_send);
+
+/* Safe binary data BLE transmission (CRC16 appended, with retry logic)
+ * @param ble_bin_buff  Binary buffer to transmit
+ * @param length        Data length in uint16_t words (actual bytes = length x 2) */
+void dr_binary_tx_safe(uint8_t const *ble_bin_buff, uint16_t length);
+
+/* SoftDevice-compatible delay (nrf_delay_ms wrapper) */
+void dr_sd_delay_ms(uint32_t ms);
+
+/*------------------------------------------------------------------------------
+ * Binary Packet Format Functions
+ * Packet structure: [4-byte tag][data][2-byte CRC16]
+ *----------------------------------------------------------------------------*/
+
+/* Format single uint16_t value: [tag 4B][value 2B] */
+void single_format_data(uint8_t *buffer, const char *tag, const uint16_t value) ;
+
+/* Format uint16_t array: [tag 4B][data0 2B][data1 2B]... */
+void format_data(uint8_t *buffer, const char *tag, const uint16_t *data_array, size_t length);
+
+/* Format uint8_t byte array: [tag 4B][byte0][byte1]... */
+void format_data_byte(uint8_t *buffer, const char *tag, const uint8_t *data_array, size_t length);
+
+/* Format ASCII string: [tag 4B][char0][char1]... */
+void ascii_format_data(uint8_t *buffer, const char *tag, const char *data_ascii, size_t length);
+
+/*==============================================================================
+ * Global Variables (extern)
+ *============================================================================*/
+extern volatile bool data_tx_in_progress;   /* BLE TX in progress flag */
+extern volatile bool ble_connection_st;     /* BLE connection state (0=disconnected, 1=connected) */
+
+/* 2026-03-17: Global variables moved from cmd_parse.c to main.c */
+extern char SERIAL_NO[SERIAL_NO_LENGTH];           /* Serial number */
+extern char HW_NO[HW_NO_LENGTH];                   /* Hardware number */
+extern char m_static_passkey[PASSKEY_LENGTH];       /* BLE static passkey */
+extern bool bond_data_delete;                       /* Bond data delete request flag */
+extern uint32_t m_life_cycle;                       /* Device life cycle counter */
+extern uint8_t resetCount;                          /* Communication timeout counter */
+extern bool info4;                                  /* Measurement with extra info flag */
+extern uint8_t m_reset_status;                      /* Reset status code */
+
+extern uint8_t ble_bin_buffer[];                    /* BLE binary response buffer */
+
+/* Send error response */
+void param_error(const char *cmd);
+
+#endif //MAIN_H__
+

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

@@ -0,0 +1,502 @@
+/*******************************************************************************
+ * @file    dr_adc121s051.h
+ * @brief   ADC121S051 12-bit ADC Driver for nRF52840
+ *          For 1.2MHz Piezo Echo Envelope Detection
+ * @author  Charles KWON
+ * @date    2025-12-15
+ * 
+ * @details This driver reads the envelope-detected DC level from piezo echo.
+ *          
+ *          Signal Flow:
+ *          
+ *          [Piezo TX]    [Echo RX]    [Envelope]    [ADC]      [MCU]
+ *          1.2MHz   -->  Reflect  -->  Detector -->  DC Level --> Digital
+ *          burst         signal        (hardware)    reading     value
+ *          
+ *          The envelope detector circuit converts the 1.2MHz echo burst
+ *          into a DC voltage proportional to the echo amplitude.
+ *          ADC samples this DC level for amplitude measurement.
+ * 
+ * @note    Hardware: Texas Instruments ADC121S051
+ *          - 12-bit resolution (0-4095)
+ *          - Sample rate: 200-500 ksps
+ *          - Input range: 0V to VA
+ *          - SPI interface (software bit-bang)
+ ******************************************************************************/
+
+#ifndef DR_ADC121S051_H
+#define DR_ADC121S051_H
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "nrf_gpio.h"
+
+/*==============================================================================
+ * PIN CONFIGURATION
+ * 
+ * WARNING: Never hardcode pin numbers!
+ * Hardcoding may save a developer's time momentarily,
+ * but it will also shorten their lifespan.
+ *============================================================================*/
+#define DR_ADC_PIN_SCLK         NRF_GPIO_PIN_MAP(0, 14)  /**< Serial Clock */
+#define DR_ADC_PIN_SDATA        NRF_GPIO_PIN_MAP(0, 15)  /**< Serial Data (MISO) */
+#define DR_ADC_PIN_CS           NRF_GPIO_PIN_MAP(0, 19)  /**< Chip Select P0.13 -> P0.19 */
+
+/*==============================================================================
+ * ADC SPECIFICATIONS
+ *============================================================================*/
+#define DR_ADC_RESOLUTION       12          /**< Bits */
+#define DR_ADC_MAX_VALUE        4095        /**< 2^12 - 1 */
+#define DR_ADC_VREF_MV          3300        /**< Reference voltage (mV) */
+
+/*==============================================================================
+ * ECHO DETECTION CONFIGURATION
+ *
+ * Bladder Measurement Requirements:
+ *   - Target measurement range: 20cm (200mm)
+ *   - SCLK frequency: 8.6MHz (bit-bang SPI)
+ *   - ADC121S051 requires 16 SCLK cycles per sample
+ *   - Actual sample rate: 8.6MHz / 16 = 0.5375MHz = 537.5kHz
+ *   - Actual sample interval: 16 / 8.6MHz = 1.86us
+ *   - Sound speed in tissue: 1540m/s = 1.54mm/us
+ *
+ *   Formula: samples = distance(mm) * 2 / (1.86us * 1.54mm/us)
+ *                    = distance(mm) * 2 / 2.86
+ *                    = distance(mm) * 0.7
+ *
+ *   10cm = 100mm -> 100 * 0.7 =  70 samples (round-trip 130us)
+ *   17cm = 170mm -> 170 * 0.7 = 119 samples (round-trip 221us)
+ *   20cm = 200mm -> 200 * 0.7 = 140 samples (round-trip 260us)
+ *
+ *   Buffer size: 200 samples * 2 bytes = 400 bytes (RAM 256KB, OK)
+ *   BLE transmission: 140 samples * 2 bytes = 280 bytes (16-bit raw, no packing)
+ *============================================================================*/
+#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_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) */
+
+/*==============================================================================
+ * ERROR CODES
+ *============================================================================*/
+typedef enum {
+    DR_ADC_OK = 0,
+    DR_ADC_ERR_NOT_INIT,
+    DR_ADC_ERR_INVALID_PARAM,
+    DR_ADC_ERR_NO_ECHO
+} dr_adc_err_t;
+
+/*==============================================================================
+ * DATA STRUCTURES
+ *============================================================================*/
+
+/**
+ * @brief Single ADC reading result
+ */
+typedef struct {
+    uint16_t raw;               /**< Raw 12-bit value (0-4095) */
+    uint32_t voltage_mv;        /**< Voltage in millivolts */
+} dr_adc_result_t;
+
+/**
+ * @brief Echo measurement result
+ */
+typedef struct {
+    uint16_t peak_raw;          /**< Peak amplitude (raw) */
+    uint32_t peak_mv;           /**< Peak amplitude (mV) */
+    uint16_t peak_index;        /**< Sample index of peak */
+    uint32_t peak_time_us;      /**< Time to peak (us) */
+    uint16_t baseline_raw;      /**< Baseline level before echo */
+    uint16_t num_samples;       /**< Number of samples captured */
+} dr_adc_echo_t;
+
+/**
+ * @brief Echo capture configuration
+ */
+typedef struct {
+    uint16_t num_samples;       /**< Samples to capture (1-200) */
+    uint16_t threshold_raw;     /**< Minimum peak threshold */
+    uint16_t delay_us;          /**< Delay before capture starts */
+} dr_adc_echo_config_t;
+
+/*==============================================================================
+ * INITIALIZATION
+ *============================================================================*/
+
+/**
+ * @brief Initialize ADC driver
+ * @return dr_adc_err_t Error code
+ */
+dr_adc_err_t dr_adc_init(void);
+
+/**
+ * @brief Uninitialize ADC driver
+ */
+void dr_adc_uninit(void);
+
+/**
+ * @brief Check if initialized
+ */
+bool dr_adc_is_initialized(void);
+
+/*==============================================================================
+ * BASIC READ FUNCTIONS
+ *============================================================================*/
+
+/**
+ * @brief Read single ADC value
+ * @param result Pointer to result structure
+ * @return dr_adc_err_t Error code
+ */
+dr_adc_err_t dr_adc_read(dr_adc_result_t *result);
+
+/**
+ * @brief Read raw 12-bit value only
+ * @param raw_value Pointer to store value
+ * @return dr_adc_err_t Error code
+ */
+dr_adc_err_t dr_adc_read_raw(uint16_t *raw_value);
+
+/**
+ * @brief Read averaged value
+ * @param result Pointer to result structure
+ * @param num_samples Number of samples to average (1-256)
+ * @return dr_adc_err_t Error code
+ */
+dr_adc_err_t dr_adc_read_averaged(dr_adc_result_t *result, uint16_t num_samples);
+
+/*==============================================================================
+ * ECHO DETECTION FUNCTIONS
+ *============================================================================*/
+
+/**
+ * @brief Capture echo envelope after piezo burst
+ * @param buffer Array to store samples (must be pre-allocated)
+ * @param num_samples Number of samples to capture
+ * @return dr_adc_err_t Error code
+ * 
+ * @note Call this immediately after dr_piezo_burst_sw()
+ */
+dr_adc_err_t dr_adc_capture_echo(uint16_t *buffer, uint16_t num_samples);
+
+/**
+ * @brief Capture and analyze echo in one call
+ * @param echo Pointer to echo result structure
+ * @param config Pointer to capture configuration (NULL for defaults)
+ * @return dr_adc_err_t Error code
+ */
+dr_adc_err_t dr_adc_measure_echo(dr_adc_echo_t *echo, const dr_adc_echo_config_t *config);
+
+/**
+ * @brief Piezo burst + Echo capture in one call
+ * @param cycles Number of burst cycles (3~7)
+ * @param delay_us Delay before capture (us)
+ * @param num_samples Number of samples to capture
+ * @param echo Pointer to echo result structure
+ * @return dr_adc_err_t Error code
+ */
+dr_adc_err_t dr_adc_burst_and_capture(uint8_t cycles, uint16_t delay_us,
+                                       uint16_t num_samples, dr_adc_echo_t *echo);
+
+/**
+ * @brief Get pointer to last captured echo buffer
+ * @return Pointer to internal buffer (valid until next capture)
+ * @note Buffer contains num_samples values from last burst_and_capture call
+ */
+const uint16_t* dr_adc_get_echo_buffer(void);
+
+/**
+ * @brief Analyze captured echo buffer
+ * @param buffer Sample buffer
+ * @param num_samples Number of samples in buffer
+ * @param echo Pointer to echo result structure
+ * @param threshold Minimum threshold for valid peak
+ * @return dr_adc_err_t Error code
+ */
+dr_adc_err_t dr_adc_analyze_echo(const uint16_t *buffer, uint16_t num_samples,
+                                  dr_adc_echo_t *echo, uint16_t threshold);
+
+/**
+ * @brief Find peak in buffer
+ * @param buffer Sample buffer
+ * @param num_samples Number of samples
+ * @param peak_value Pointer to store peak value
+ * @param peak_index Pointer to store peak index (can be NULL)
+ */
+void dr_adc_find_peak(const uint16_t *buffer, uint16_t num_samples,
+                      uint16_t *peak_value, uint16_t *peak_index);
+
+/**
+ * @brief Calculate baseline (average of first N samples)
+ * @param buffer Sample buffer
+ * @param num_samples Number of samples to average for baseline
+ * @return Baseline value
+ */
+uint16_t dr_adc_calc_baseline(const uint16_t *buffer, uint16_t num_samples);
+
+/*==============================================================================
+ * UTILITY FUNCTIONS
+ *============================================================================*/
+
+/**
+ * @brief Convert raw value to millivolts
+ * @param raw_value Raw 12-bit value
+ * @return Voltage in millivolts
+ */
+uint32_t dr_adc_raw_to_mv(uint16_t raw_value);
+
+/**
+ * @brief Set reference voltage
+ * @param vref_mv Reference voltage in millivolts
+ */
+void dr_adc_set_vref(uint32_t vref_mv);
+
+/**
+ * @brief Get reference voltage
+ * @return Reference voltage in millivolts
+ */
+uint32_t dr_adc_get_vref(void);
+
+/*==============================================================================
+ * DEBUG FUNCTIONS
+ *============================================================================*/
+
+/*==============================================================================
+ * POWER CONTROL
+ *============================================================================*/
+
+
+/*==============================================================================
+ * BLE TRANSMISSION CALLBACK
+ *============================================================================*/
+
+/*==============================================================================
+ * INTEGRATED BURST + CAPTURE + TRANSMIT
+ *============================================================================*/
+
+/**
+ * @brief Piezo burst + ADC capture + BLE transmission (all-in-one)
+ *
+ * This function performs the complete measurement cycle internally:
+ * 1. Power on ADC
+ * 2. Select piezo channel (0~7)
+ * 3. Execute piezo burst (frequency based on freq_option)
+ * 4. Capture echo samples (after delay_us) - repeated 'averaging' times
+ * 5. Average the captured samples (firmware-level noise reduction)
+ * 6. Analyze peak/baseline
+ * 7. Transmit data via BLE with proper packet timing
+ *
+ * @param freq_option Frequency option: 0=1.8MHz (default), 1=2.1MHz, 2=2.0MHz, 3=1.7MHz
+ * @param delay_us Delay before capture (us), default 20
+ * @param num_samples Number of samples to capture (1~200)
+ * @param cycles Number of burst cycles (3~7), default 5
+ * @param averaging Number of measurements to average (1~1000), default 1
+ * @param piezo_ch Piezo channel to use (0~7), default 0
+ * @param ble_buffer Working buffer for BLE packets (must be >= 240 bytes)
+ * @return dr_adc_err_t Error code
+ *
+ * @note Must call dr_adc_register_ble_tx() before using this function
+ * @note BLE packets: reb: (header+data merged), red: (continuation, >119 samples only)
+ * @note Higher averaging reduces noise but increases measurement time (~0.3ms per avg)
+ */
+dr_adc_err_t dr_adc_burst_capture_transmit(uint8_t freq_option, uint16_t delay_us,
+                                            uint16_t num_samples, uint8_t cycles,
+                                            uint16_t averaging, uint8_t piezo_ch,
+                                            uint8_t *ble_buffer, uint8_t skip_raa);
+
+/**
+ * @brief Select piezo channel (0~7)
+ * @param channel Piezo channel number (0~7)
+ *
+ * @note Hardware-dependent: requires MUX or individual GPIO control
+ *       Currently uses placeholder - implement based on actual hardware
+ */
+void dr_piezo_select_channel(uint8_t channel);
+
+/*==============================================================================
+ * 4-CHANNEL CAPTURE (maa? command support)
+ *============================================================================*/
+
+/**
+ * @brief 8-channel echo buffer for maa? command
+ * Memory: 140 samples × 2 bytes × 8 channels = 2,240 bytes
+ */
+#define MAA_NUM_CHANNELS    6       /* 4 -> 8 -> 6  jhChun 26.03.17*/
+#define MAA_SAMPLES_MAX     200
+
+/**
+ * @brief Echo data for one channel
+ */
+typedef struct {
+    uint16_t samples[MAA_SAMPLES_MAX];  /**< Raw sample data */
+    uint16_t num_samples;               /**< Actual sample count */
+} dr_maa_channel_t;
+
+/**
+ * @brief Capture echo from one channel (no BLE transmission)
+ *
+ * Captures averaged echo data for a single channel and stores
+ * in the provided channel buffer. Does NOT transmit via BLE.
+ *
+ * @param freq_option Frequency: 0=1.8MHz, 1=2.1MHz, 2=2.0MHz, 3=1.7MHz
+ * @param delay_us Delay before capture (us)
+ * @param num_samples Number of samples (1~200)
+ * @param cycles Burst cycles (3~7)
+ * @param averaging Number of averages (1~1000)
+ * @param piezo_ch Piezo channel (0~7)
+ * @param out_channel Output channel data structure
+ * @return dr_adc_err_t Error code
+ */
+dr_adc_err_t dr_adc_capture_channel_only(uint8_t freq_option, uint16_t delay_us,
+                                          uint16_t num_samples, uint8_t cycles,
+                                          uint16_t averaging, uint8_t piezo_ch,
+                                          dr_maa_channel_t *out_channel);
+
+/**
+ * @brief Transmit captured channel data via BLE
+ *
+ * Sends previously captured channel data using reb+red merged protocol.
+ * reb: tag(4) + num_samples(2) + data(up to 238B). red: only if > 119 samples.
+ *
+ * @param ch_data Pointer to captured channel data
+ * @param ble_buffer Working buffer for BLE packets (>= 244 bytes)
+ * @return dr_adc_err_t Error code
+ */
+dr_adc_err_t dr_adc_transmit_channel(const dr_maa_channel_t *ch_data,
+                                      uint8_t *ble_buffer);
+
+/*==============================================================================
+ * DELTA COMPRESSION (maa? mode=1)
+ *
+ * Format:
+ *   Byte 0-1: First sample (16-bit, little endian)
+ *   Byte 2+:  Delta values (8-bit signed)
+ *             If delta > 127 or < -127: escape (0x80) + 16-bit value
+ *
+ * Expected compression: ~50% (280 bytes -> ~140 bytes)
+ *============================================================================*/
+
+#define DELTA_ESCAPE_BYTE   0x80    /**< Escape marker for out-of-range delta */
+
+/**
+ * @brief Compress sample data using delta encoding
+ *
+ * @param samples Input sample array (16-bit values)
+ * @param num_samples Number of samples
+ * @param out_buffer Output buffer for compressed data
+ * @param out_size Output: number of bytes written
+ * @return dr_adc_err_t Error code
+ */
+dr_adc_err_t dr_adc_delta_compress(const uint16_t *samples, uint16_t num_samples,
+                                    uint8_t *out_buffer, uint16_t *out_size);
+
+/**
+ * @brief Transmit captured channel data via BLE with delta compression
+ *
+ * Uses rdb+rdd merged protocol (delta variant of reb+red merged)
+ *
+ * @param ch_data Pointer to captured channel data
+ * @param ble_buffer Working buffer for BLE packets (>= 240 bytes)
+ * @return dr_adc_err_t Error code
+ */
+dr_adc_err_t dr_adc_transmit_channel_delta(const dr_maa_channel_t *ch_data,
+                                            uint8_t *ble_buffer);
+
+/*==============================================================================
+ * ASYNC MAA - Non-blocking 8-channel capture
+ *
+ * Design: State machine driven by BLE TX complete events
+ * Flow:
+ *   maa? cmd -> maa_async_start() -> capture all CH -> TX reb:(header+data) -> TX red: (if needed)
+ *   BLE_NUS_EVT_TX_RDY -> maa_async_on_tx_ready() -> TX next packet or next channel
+ *   All done -> TX raa: -> state=IDLE
+ *============================================================================*/
+
+/** @brief MAA async state machine states */
+typedef enum {
+    MAA_ASYNC_IDLE = 0,       /**< Not active */
+    MAA_ASYNC_CAPTURING,      /**< ADC capture in progress */
+    MAA_ASYNC_TX_HEADER,      /**< Sending reb: header+data merged */
+    MAA_ASYNC_TX_DATA,        /**< Sending red: data packets */
+    MAA_ASYNC_NEXT_CHANNEL,   /**< Preparing next channel */
+    MAA_ASYNC_COMPLETE        /**< Sending raa: and finishing */
+} maa_async_state_t;
+
+/** @brief MAA async context */
+typedef struct {
+    maa_async_state_t state;      /**< Current state */
+    uint8_t     current_ch;       /**< Current channel (0~7) */
+    uint8_t     current_pkt;      /**< Current packet index */
+    uint16_t    data_offset;      /**< Bytes sent so far for current channel */
+    uint8_t     freq_option;      /**< Frequency option */
+    uint16_t    delay_us;         /**< Capture delay */
+    uint16_t    num_samples;      /**< Samples per channel */
+    uint8_t     cycles;           /**< Burst cycles */
+    uint16_t    averaging;        /**< Averaging count */
+    uint8_t    *ble_buffer;       /**< Working buffer for BLE packets */
+    dr_maa_channel_t channels[MAA_NUM_CHANNELS]; /**< Captured data for each channel */
+    bool        pre_capture_all;  /**< true: capture all channels before transmitting (mbb) */
+    void      (*on_complete_cb)(void); /**< callback after async capture completes (NULL = none) */
+} maa_async_ctx_t;
+
+/**
+ * @brief Start async MAA 8-channel capture
+ *
+ * Initiates the async state machine. Captures CH0 and begins transmission.
+ * Subsequent packets are sent when maa_async_on_tx_ready() is called.
+ *
+ * @param freq_option Frequency: 0=1.8MHz, 1=2.1MHz, 2=2.0MHz, 3=1.7MHz
+ * @param delay_us Capture delay (us)
+ * @param num_samples Samples per channel (1~200)
+ * @param cycles Burst cycles (3~7)
+ * @param averaging Averaging count (1~1000)
+ * @param ble_buffer Working buffer (>= 244 bytes)
+ * @return dr_adc_err_t DR_ADC_OK if started successfully
+ */
+dr_adc_err_t maa_async_start(uint8_t freq_option, uint16_t delay_us,
+                              uint16_t num_samples, uint8_t cycles,
+                              uint16_t averaging, uint8_t *ble_buffer);
+
+/**
+ * @brief Handle BLE TX ready event
+ *
+ * Called from BLE_NUS_EVT_TX_RDY handler. Sends next packet or
+ * transitions to next state.
+ *
+ * @return true if more work pending, false if complete or idle
+ */
+bool maa_async_on_tx_ready(void);
+
+/**
+ * @brief Check if async MAA is active
+ * @return true if state != IDLE
+ */
+bool maa_async_is_busy(void);
+
+/**
+ * @brief Get current async state (for debugging)
+ * @return Current state
+ */
+maa_async_state_t maa_async_get_state(void);
+
+/**
+ * @brief Abort async MAA operation
+ */
+void maa_async_abort(void);
+
+/**
+ * @brief Set auto power-off flag (power off after completion)
+ */
+void maa_async_set_auto_power(bool on);
+void maa_async_set_pre_capture_all(bool on);
+
+/**
+ * @brief Set async capture completion callback
+ * Called after raa: is transmitted and power-off. NULL = no callback.
+ */
+void maa_async_set_on_complete(void (*cb)(void));
+
+#endif /* DR_ADC121S051_H */
+

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

@@ -0,0 +1,292 @@
+/*==============================================================================
+ * battery_saadc.c - Battery voltage ADC measurement
+ *
+ * Measures battery voltage via nRF52840 SAADC on AIN2:
+ *   - 12-bit resolution, 4x oversampling
+ *   - Periodic safety check via battery_loop timer (60 s interval)
+ *   - Sequential: battery -> temperature measurement
+ *   - Auto power-off after 5 consecutive readings below 3500 mV or above 40 C
+ *   - In info4 mode (bulk sensor collection): stores to info_batt
+ *
+ * Voltage conversion:
+ *   mV = ADC_VALUE * (600 / 4095) * 6 * 1.42  (resistor divider correction)
+ *============================================================================*/
+
+#include "sdk_common.h"
+
+#include <stdint.h>
+#include <string.h>
+#include "nrf.h"
+#include "boards.h"
+#include "app_error.h"
+#include "nrf_drv_saadc.h"
+#include "nrf_drv_timer.h"
+#include "ble_nus.h"
+#include "nrf_log.h"
+#include "main.h"
+#include "app_timer.h"
+#include "battery_saadc.h"
+#include "main_timer.h"
+#include "tmp235_q1.h"
+#include "dr_piezo.h"
+#include "debug_print.h"
+
+/* SAADC internal reference voltage (mV, float) */
+#define BATTERY_REF_VOLTAGE_IN_MILLIVOLTS   600.0f
+
+/* 1/3 prescaling compensation (input divided by 3, then x2 = total x6) */
+#define BATTERY_PRE_SCALING_COMPENSATION    6.0f
+
+/* 12-bit ADC maximum digital value */
+#define BATTERY_ADC_RES_12BITS              4095.0f
+
+/* Convert raw ADC value to millivolts */
+#define BATTERY_RESULT_IN_MILLI_VOLTS(ADC_VALUE)\
+        ((((ADC_VALUE) * BATTERY_REF_VOLTAGE_IN_MILLIVOLTS) / BATTERY_ADC_RES_12BITS) * BATTERY_PRE_SCALING_COMPENSATION)
+
+/* Single ADC buffer (uninit after each measurement, no double-buffer needed) */
+static nrf_saadc_value_t adc_buf;
+
+/* Battery monitoring repeat timer */
+APP_TIMER_DEF(m_battery_loop_timer_id);
+
+/* Battery monitoring interval (ms) */
+#define BATTERY_LOOP_INTERVAL              60000
+
+/* Safety check consecutive count threshold */
+#define SAFETY_CHECK_COUNT                 5
+
+/* Low-battery check flag — set by battery_loop, consumed by handler */
+bool low_battery_check = false;
+
+/* Safety check mode flag — set by battery handler, consumed by tmp235 handler */
+bool safety_check_mode = false;
+
+/* SAADC callback completion flag — used by all_sensors() to wait */
+volatile bool battery_saadc_done = false;
+
+/* Safety check: cached battery voltage for use in safety_check_complete() */
+static float safety_batt_mv = 0;
+
+/* Safety check: consecutive counters */
+static uint8_t low_battery_cnt = 0;
+static uint8_t over_temp_cnt = 0;
+
+/* info4: bulk sensor collection mode flag */
+extern bool info4;
+
+extern char	ble_tx_buffer[BLE_NUS_MAX_DATA_LEN];
+extern bool go_device_power_off;
+extern which_cmd_t cmd_type_t;
+extern uint8_t ble_bin_buffer[BLE_NUS_MAX_DATA_LEN];
+
+/* info4 mode: cached battery voltage (mV) */
+volatile uint16_t info_batt;
+
+/* info4 sequential measurement control flags */
+extern bool go_temp;
+extern bool go_batt;
+
+extern bool motion_raw_data_enabled;
+extern bool ble_got_new_data;
+extern bool motion_data_once;
+
+/*==============================================================================
+ * safety_check_complete - Called by tmp235 handler after temperature measurement
+ *
+ * Checks both battery voltage and temperature against thresholds.
+ * 5 consecutive readings exceeding either threshold triggers power OFF.
+ *============================================================================*/
+void safety_check_complete(float temp_c)
+{
+    //DBG_PRINTF("[SAFETY] Batt=%d mV, Temp=%d.%d C\r\n",
+    //           (int)safety_batt_mv, (int)temp_c, ((int)(temp_c * 10)) % 10);
+
+    /* Battery check */
+    if (safety_batt_mv <= LOW_BATTERY_VOLTAGE)
+    {
+        low_battery_cnt++;
+        DBG_PRINTF("[SAFETY] Low batt cnt=%d\r\n", low_battery_cnt);
+    }
+    else
+    {
+        low_battery_cnt = 0;
+    }
+
+    /* Temperature check */
+    if (temp_c >= OVER_TEMPERATURE_THRESHOLD)
+    {
+        over_temp_cnt++;
+        DBG_PRINTF("[SAFETY] Over temp cnt=%d\r\n", over_temp_cnt);
+    }
+    else
+    {
+        over_temp_cnt = 0;
+    }
+    
+    /* Power OFF if either threshold exceeded 5 consecutive times */
+    if (low_battery_cnt >= SAFETY_CHECK_COUNT)
+    {
+        low_battery_cnt = 0;
+        DBG_PRINTF("[SAFETY] Low battery -> Power OFF\r\n");
+        go_device_power_off = true;
+        main_timer_start();
+    }
+    else if (over_temp_cnt >= SAFETY_CHECK_COUNT)
+    {
+        over_temp_cnt = 0;
+        DBG_PRINTF("[SAFETY] Over temperature -> Power OFF\r\n");
+        go_device_power_off = true;
+        main_timer_start();
+    }
+
+    dr_piezo_power_off();
+}
+
+/*==============================================================================
+ * battery_event_handler - SAADC conversion complete callback
+ *
+ * Converts the raw ADC value to battery voltage (mV) and then:
+ *   - Low-battery check mode: store voltage, chain temperature measurement
+ *   - info4 mode: store to info_batt (no BLE send)
+ *   - Normal mode: send rsn: response over BLE or UART
+ *============================================================================*/
+void battery_event_handler(nrf_drv_saadc_evt_t const * p_event)
+{
+    if (p_event->type == NRF_DRV_SAADC_EVT_DONE)
+    {
+        nrf_saadc_value_t register_val = 0;
+        float batt_lvl_in_milli_volt_0 = 0;
+        float batt_lvl_in_milli_volt_1 = 0;
+
+        register_val = p_event->data.done.p_buffer[0];
+
+        /* Release SAADC — shared with temperature / pressure ADC */
+        nrf_drv_saadc_channel_uninit(0);
+        nrf_drv_saadc_uninit();
+
+        battery_saadc_done = true;
+
+        /* ADC -> mV conversion */
+        batt_lvl_in_milli_volt_0 = BATTERY_RESULT_IN_MILLI_VOLTS(register_val);
+
+        /* Resistor divider correction factor 1.42 */
+        batt_lvl_in_milli_volt_1 = batt_lvl_in_milli_volt_0 * 1.42f;
+
+        /* --- Safety check mode: store voltage, chain temperature measurement --- */
+        if (low_battery_check == true)
+        {
+            low_battery_check = false;
+            safety_batt_mv = batt_lvl_in_milli_volt_1;
+            safety_check_mode = true;
+
+            /* TMP235 shares piezo TX/RX power rail */
+            if (!dr_piezo_is_power_on())
+            {
+                dr_piezo_power_on();
+            }
+            tmp235_voltage_level_meas();
+        }
+
+        /* --- info4 mode: store value for mbb? bulk response --- */
+        else if (info4 == true)
+        {
+            info_batt = batt_lvl_in_milli_volt_1;
+        }
+
+        /* --- Normal mode: send rsn: BLE response --- */
+        else
+        {
+            if (cmd_type_t == CMD_UART)
+            {
+                DBG_PRINTF("Tn%d\r\n\r\n", (int)batt_lvl_in_milli_volt_1);
+            }
+            else if (cmd_type_t == CMD_BLE)
+            {
+                single_format_data(ble_bin_buffer, "rsn:", batt_lvl_in_milli_volt_1);
+                dr_binary_tx_safe(ble_bin_buffer, 3);
+            }
+        }
+    }
+}
+
+
+/*==============================================================================
+ * battery_configure - Set up SAADC for battery voltage measurement
+ *
+ * AIN2, single-ended, 1/6 gain, 12-bit, 4x oversampling, burst enabled.
+ * Registers a single buffer (uninit after one conversion).
+ *============================================================================*/
+static void battery_configure(void)
+{
+    nrf_drv_saadc_config_t saadc_config = NRF_DRV_SAADC_DEFAULT_CONFIG;
+    saadc_config.resolution = NRF_SAADC_RESOLUTION_12BIT;
+    saadc_config.oversample = NRF_SAADC_OVERSAMPLE_4X;
+    ret_code_t err_code = nrf_drv_saadc_init(&saadc_config, battery_event_handler);
+    if (err_code != NRF_SUCCESS)
+    {
+        return;  /* SAADC busy — skip this cycle, retry next */
+    }
+
+    nrf_saadc_channel_config_t config = NRF_DRV_SAADC_DEFAULT_CHANNEL_CONFIG_SE(NRF_SAADC_INPUT_AIN2);
+    config.burst = NRF_SAADC_BURST_ENABLED;
+    config.acq_time = NRF_SAADC_ACQTIME_10US;
+    err_code = nrf_drv_saadc_channel_init(0, &config);
+    APP_ERROR_CHECK(err_code);
+
+    err_code = nrf_drv_saadc_buffer_convert(&adc_buf, 1);
+    APP_ERROR_CHECK(err_code);
+}
+
+/*==============================================================================
+ * battery_level_meas - Start a single battery voltage measurement
+ *
+ * Configures SAADC and triggers sampling. Result arrives asynchronously
+ * via battery_event_handler.
+ *============================================================================*/
+void battery_level_meas(void)
+{
+    ret_code_t err_code;
+
+    battery_configure();
+    err_code = nrf_drv_saadc_sample();
+    APP_ERROR_CHECK(err_code);
+}
+
+
+/*==============================================================================
+ * battery_loop - Periodic battery monitoring timer callback
+ *
+ * Sets the low-battery check flag and starts a measurement.
+ * Skips if info4 mode is active (SAADC conflict).
+ *============================================================================*/
+void battery_loop(void * p_context)
+{
+    UNUSED_PARAMETER(p_context);
+
+    if (info4 == true)
+    {
+        return;
+    }
+
+    low_battery_check = true;
+    battery_level_meas();
+}
+
+/* Start the periodic battery monitoring timer. */
+void battery_timer_start(void)
+{
+    APP_ERROR_CHECK(app_timer_start(m_battery_loop_timer_id, APP_TIMER_TICKS(BATTERY_LOOP_INTERVAL), NULL));
+}
+
+/* Stop the battery monitoring timer. */
+void battery_timer_stop(void)
+{
+    APP_ERROR_CHECK(app_timer_stop(m_battery_loop_timer_id));
+}
+
+/* Initialise the battery monitoring timer (repeated mode). */
+void battery_timer_init(void)
+{
+    APP_ERROR_CHECK(app_timer_create(&m_battery_loop_timer_id, APP_TIMER_MODE_REPEATED, battery_loop));
+}

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

@@ -0,0 +1,43 @@
+/*==============================================================================
+ * battery_saadc.h - Battery voltage SAADC measurement interface
+ *
+ * Uses the nRF52840 SAADC to measure battery voltage on AIN2.
+ *
+ * API:
+ *   battery_level_meas()            : one-shot measurement (async, result via callback)
+ *   battery_timer_init/start/stop() : 60-second periodic monitoring timer
+ *
+ * Periodic safety check (every 60 s):
+ *   Battery -> Temperature sequential measurement via SAADC.
+ *   Auto power-off after 5 consecutive readings below LOW_BATTERY_VOLTAGE (3500 mV)
+ *   or above OVER_TEMPERATURE_THRESHOLD (40 C).
+ *============================================================================*/
+
+#ifndef _BATTERY_SAADC_H_
+#define _BATTERY_SAADC_H_
+
+/* Low-battery threshold (mV) — 5 consecutive readings below this -> power OFF */
+#define LOW_BATTERY_VOLTAGE         3500
+
+/* Over-temperature threshold (deg C) — 5 consecutive readings above this -> power OFF */
+#define OVER_TEMPERATURE_THRESHOLD  40.0f
+
+/* SAADC callback completion flag (used by all_sensors() to wait) */
+extern volatile bool battery_saadc_done;
+
+/* Safety check mode flag — set by battery_loop, consumed by tmp235 handler */
+extern bool safety_check_mode;
+
+/* Called by tmp235 handler when safety check temperature measurement completes */
+void safety_check_complete(float temp_c);
+
+/* Start a single async battery measurement. Result handled in callback. */
+void battery_level_meas(void);
+/* Start the 60-second periodic battery monitoring timer. */
+void battery_timer_start(void);
+/* Stop the battery monitoring timer. */
+void battery_timer_stop(void);
+/* Initialise the battery monitoring timer (call once at app start). */
+void battery_timer_init(void);
+
+#endif //_BATTERY_SAADC_H_

project/ble_peripheral/ble_app_bladder_patch/measurement/imu/Invn/EmbUtils/DataConverter.c

@@ -0,0 +1,103 @@
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively “Software”) is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+#include "DataConverter.h"
+
+uint8_t * inv_dc_int32_to_little8(int32_t x, uint8_t * little8)
+{
+	little8[3] = (uint8_t)((x >> 24) & 0xff);
+	little8[2] = (uint8_t)((x >> 16) & 0xff);
+	little8[1] = (uint8_t)((x >> 8) & 0xff);
+	little8[0] = (uint8_t)(x & 0xff);
+
+	return little8;
+}
+
+uint8_t * inv_dc_int16_to_little8(int16_t x, uint8_t * little8)
+{
+	little8[0] = (uint8_t)(x & 0xff);
+	little8[1] = (uint8_t)((x >> 8) & 0xff);
+
+	return little8;
+}
+
+uint8_t * inv_dc_int32_to_big8(int32_t x, uint8_t * big8)
+{
+	big8[0] = (uint8_t)((x >> 24) & 0xff);
+	big8[1] = (uint8_t)((x >> 16) & 0xff);
+	big8[2] = (uint8_t)((x >> 8) & 0xff);
+	big8[3] = (uint8_t)(x & 0xff);
+
+	return big8;
+}
+
+int32_t inv_dc_little8_to_int32(const uint8_t * little8)
+{
+	int32_t x = 0;
+
+	x |= ((int32_t)little8[3] << 24);
+	x |= ((int32_t)little8[2] << 16);
+	x |= ((int32_t)little8[1] << 8);
+	x |= ((int32_t)little8[0]);
+
+	return x;
+}
+
+int16_t inv_dc_big16_to_int16(uint8_t * data)
+{
+	int16_t result;
+
+	result  = (*data << 8);
+	data++;
+	result |= *data;
+
+	return result;
+}
+
+int16_t inv_dc_le_to_int16(const uint8_t * little8)
+{
+	uint16_t x = 0;
+
+	x |= ((uint16_t)little8[0]);
+	x |= ((uint16_t)little8[1] << 8);
+
+	return (int16_t)x;
+}
+
+void inv_dc_sfix32_to_float(const int32_t * in, uint32_t len, uint8_t qx, float * out)
+{
+	uint8_t i;
+
+	for(i = 0; i < len; ++i) {
+		out[i] = (float)in[i] / (1 << qx);
+	}
+}
+
+void inv_dc_float_to_sfix32(const float * in, uint32_t len, uint8_t qx, int32_t * out)
+{
+	uint8_t i;
+
+	for(i = 0; i < len; ++i) {
+		out[i] = (int32_t)((in[i] * (1 << qx)) + ((in[i] >= 0) - 0.5f));
+	}
+}

project/ble_peripheral/ble_app_bladder_patch/measurement/imu/Invn/EmbUtils/DataConverter.h

@@ -0,0 +1,87 @@
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively “Software”) is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+/** @defgroup DataConverter Data Converter
+ *	@brief    Helper functions to convert integer
+ *  @ingroup  EmbUtils
+ *	@{
+ */
+
+#ifndef _INV_DATA_CONVERTER_H_
+#define _INV_DATA_CONVERTER_H_
+
+#include "InvExport.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+
+/** @brief Converts a 32-bit long to a little endian byte stream
+ */
+uint8_t INV_EXPORT * inv_dc_int32_to_little8(int32_t x, uint8_t * little8);
+
+/** @brief Converts a 16-bit integer to a little endian byte stream
+ */
+uint8_t INV_EXPORT * inv_dc_int16_to_little8(int16_t x, uint8_t * little8);
+
+/** @brief Converts a 32-bit long to a big endian byte stream
+  */
+uint8_t  INV_EXPORT * inv_dc_int32_to_big8(int32_t x, uint8_t *big8);
+
+/** @brief Converts a little endian byte stream into a 32-bit integer
+ */
+int32_t INV_EXPORT inv_dc_little8_to_int32(const uint8_t * little8);
+
+/** @brief Converts a little endian byte stream into a 16-bit integer
+ */
+int16_t INV_EXPORT inv_dc_le_to_int16(const uint8_t * little8);
+
+/** @brief Converts big endian on 16 bits into an unsigned short
+ */
+int16_t INV_EXPORT inv_dc_big16_to_int16(uint8_t * data);
+
+/** @brief Converts an array of 32-bit signed fixed-point integers to an array of floats
+ *  @param[in]   in    Pointer to the first element of the array of 32-bit signed fixed-point integers
+ *  @param[in]   len   Length of the array
+ *  @param[in]   qx    Number of bits used to represent the decimal part of the fixed-point integers
+ *  @param[out]  out   Pointer to the memory area where the output will be stored
+ */
+void INV_EXPORT inv_dc_sfix32_to_float(const int32_t * in, uint32_t len, uint8_t qx, float * out);
+
+/** @brief Converts an array of floats to an array of 32-bit signed fixed-point integers
+ *  @param[in]   in    Pointer to the first element of the array of floats
+ *  @param[in]   len   Length of the array
+ *  @param[in]   qx    Number of bits used to represent the decimal part of the fixed-point integers
+ *  @param[out]  out   Pointer to the memory area where the output will be stored
+ */
+void INV_EXPORT inv_dc_float_to_sfix32(const float * in, uint32_t len, uint8_t qx, int32_t * out);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _INV_DATA_CONVERTER_H_ */
+
+/** @} */

project/ble_peripheral/ble_app_bladder_patch/measurement/imu/Invn/EmbUtils/ErrorHelper.c

@@ -0,0 +1,47 @@
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively “Software”) is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+#include "ErrorHelper.h"
+
+const char * inv_error_str(int error)
+{
+	switch(error) {
+	case INV_ERROR_SUCCESS:      return "Success";
+	case INV_ERROR:              return "Unspecified error";
+	case INV_ERROR_NIMPL:        return "Not implemented";
+	case INV_ERROR_TRANSPORT:    return "Transport error";
+	case INV_ERROR_TIMEOUT:      return "Timeout, action did not complete in time";
+	case INV_ERROR_SIZE:         return "Wrong size error";
+	case INV_ERROR_OS:           return "Operating system failure";
+	case INV_ERROR_IO:           return "Input/Output error";
+	case INV_ERROR_MEM: 		 return "Bad allocation";
+	case INV_ERROR_HW:           return "Hardware error";
+	case INV_ERROR_BAD_ARG:      return "Invalid arguments";
+	case INV_ERROR_UNEXPECTED:   return "Unexpected error";
+	case INV_ERROR_FILE:         return "Invalid file format";
+	case INV_ERROR_PATH:         return "Invalid file path";
+	case INV_ERROR_IMAGE_TYPE:   return "Unknown image type";
+	case INV_ERROR_WATCHDOG:     return "Watchdog error";
+	default:                     return "Unknown error";
+	}
+}

project/ble_peripheral/ble_app_bladder_patch/measurement/imu/Invn/EmbUtils/ErrorHelper.h

@@ -0,0 +1,51 @@
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively “Software”) is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+/** @defgroup ErrorHelper Error Helper
+ *	@brief    Helper functions related to error code
+ *  @ingroup  EmbUtils
+ *	@{
+ */
+
+#ifndef _INV_ERROR_HELPER_H_
+#define _INV_ERROR_HELPER_H_
+
+#include "InvExport.h"
+#include "InvError.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** @brief Returns string describing error number
+ *  @sa enum inv_error
+ */
+const char INV_EXPORT * inv_error_str(int error);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _INV_ERROR_HELPER_H_ */
+
+/** @} */

project/ble_peripheral/ble_app_bladder_patch/measurement/imu/Invn/EmbUtils/InvBasicMath.c

@@ -0,0 +1,82 @@
+/*
+    Copyright (c) 2014-2015 InvenSense Inc. Portions Copyright (c) 2014-2015 Movea. All rights reserved.
+
+    This software, related documentation and any modifications thereto (collectively "Software") is subject
+    to InvenSense and its licensors' intellectual property rights under U.S. and international copyright and
+    other intellectual property rights laws.
+
+    InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+    and any use, reproduction, disclosure or distribution of the Software without an express license
+    agreement from InvenSense is strictly prohibited.
+*/
+
+#include "InvBasicMath.h"
+
+#include <limits.h>
+
+unsigned int InvBasicMath_log2u(unsigned int val)
+{
+	unsigned int ret = UINT_MAX;
+
+	while (val != 0) {
+		val >>= 1;
+		ret++;
+	}
+
+	return ret;
+}
+
+int InvBasicMath_isAnOrthonormalMatrix(const float matrix[9])
+{
+	// Check if matrix is orthogonal
+	// Matrix is orthogonal if transpose(Matrix) x Matrix = Identity
+
+	float transpose[9];
+	float mult[9];
+	int i, j;
+
+	// Compute Transpose(matrix)
+	for (i = 0; i < 3; i++) {
+		for(j = 0; j < 3; j++) {
+			transpose[i*3+j] = matrix[i+j*3];
+		}
+	}
+
+	// Multiply transpose x matrix
+	mult[0] = transpose[0]*matrix[0] + transpose[1]*matrix[3] + transpose[2]*matrix[6];
+	mult[1] = transpose[0]*matrix[1] + transpose[1]*matrix[4] + transpose[2]*matrix[7];
+	mult[2] = transpose[0]*matrix[2] + transpose[1]*matrix[5] + transpose[2]*matrix[8];
+
+	mult[3] = transpose[3]*matrix[0] + transpose[4]*matrix[3] + transpose[5]*matrix[6];
+	mult[4] = transpose[3]*matrix[1] + transpose[4]*matrix[4] + transpose[5]*matrix[7];
+	mult[5] = transpose[3]*matrix[2] + transpose[4]*matrix[5] + transpose[5]*matrix[8];
+
+	mult[6] = transpose[6]*matrix[0] + transpose[7]*matrix[3] + transpose[8]*matrix[6];
+	mult[7] = transpose[6]*matrix[1] + transpose[7]*matrix[4] + transpose[8]*matrix[7];
+	mult[8] = transpose[6]*matrix[2] + transpose[7]*matrix[5] + transpose[8]*matrix[8];
+
+	// Check that mult is identity
+	for (i = 0; i < 3; i++) {
+		for(j = 0; j < 3; j++) {
+			if (i == j) {
+				if (mult[i+j*3] != 1)
+					return 0;
+			}
+			else {
+				if (mult[i+j*3] != 0)
+					return 0;
+			}
+		}
+	}
+
+	return 1;
+}
+
+float InvBasicMath_computeMatrixDeterminant(const float matrix[9])
+{
+	return matrix[0] * (matrix[4]*matrix[8] - matrix[7]*matrix[5])
+	      -matrix[1] * (matrix[3]*matrix[8] - matrix[6]*matrix[5])
+	      +matrix[2] * (matrix[3]*matrix[7] - matrix[4]*matrix[6]);
+}
+
+

project/ble_peripheral/ble_app_bladder_patch/measurement/imu/Invn/EmbUtils/InvBasicMath.h

@@ -0,0 +1,94 @@
+/*
+    Copyright (c) 2014-2015 InvenSense Inc. Portions Copyright (c) 2014-2015 Movea. All rights reserved.
+
+    This software, related documentation and any modifications thereto (collectively "Software") is subject
+    to InvenSense and its licensors' intellectual property rights under U.S. and international copyright and
+    other intellectual property rights laws.
+
+    InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+    and any use, reproduction, disclosure or distribution of the Software without an express license
+    agreement from InvenSense is strictly prohibited.
+*/
+
+/** @defgroup InvBasicMath InvBasicMath
+	@brief This file contains basic (overloadable) math functions and macros
+    @ingroup EmbUtils
+    @{
+*/
+
+#ifndef _INV_BASIC_MATH_H_
+#define _INV_BASIC_MATH_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** @brief  Return absolute value of argument
+*/
+#ifndef INV_ABS
+#	define INV_ABS(a)		((a) < 0 ? -(a) : (a))
+#endif
+
+/** @brief  Return minimum of two arguments
+*/
+#ifndef INV_MIN
+#	define INV_MIN(a, b)	((a) < (b) ? (a) : (b))
+#endif
+
+/** @brief  Return maximum of two arguments
+*/
+#ifndef INV_MAX
+#	define INV_MAX(a, b)	((a) > (b) ? (a) : (b))
+#endif
+
+/** @brief  Define value for pi
+*/
+#ifndef INV_PI
+#   define INV_PI 3.14159265358979
+#endif
+#ifndef M_PI
+#	define M_PI INV_PI
+#endif
+  
+/** @brief  Return saturated integer
+*/
+#ifndef INV_SATURATE
+static inline long InvBasicMath_saturatel(long in, long min, long max)
+{
+	if (in > max)
+		return max;
+	else if (in < min)
+		return min;
+	else
+		return in;
+}
+#	define INV_SATURATE(a, min, max) 	InvBasicMath_saturatel(a, min, max)
+#endif
+
+/** @brief  Compute log2 from integer
+*/
+#ifndef INV_LOG2
+unsigned int InvBasicMath_log2u(unsigned int val);
+#	define INV_LOG2(a)		InvBasicMath_log2u(a)
+#endif
+
+/** @brief Check if matrix is orthonormal
+*   @param [in] matrix 3x3 Matrix to be checked
+*   @return 1 if it is an orthonormal matrix, 0 otherwise
+*/
+int InvBasicMath_isAnOrthonormalMatrix(const float matrix[9]);
+
+/** @brief Compute the determinant of the matrix
+*   @param [in] matrix 3x3 Matrix to be checked
+*   @return the determinant value
+*/
+float InvBasicMath_computeMatrixDeterminant(const float matrix[9]);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _INV_BASIC_MATH_H_ */
+
+/** @} */
+

project/ble_peripheral/ble_app_bladder_patch/measurement/imu/Invn/EmbUtils/RingBuffer.h

@@ -0,0 +1,389 @@
+/*
+    Copyright (c) 2014-2015 InvenSense Inc. Portions Copyright (c) 2014-2015 Movea. All rights reserved.
+
+    This software, related documentation and any modifications thereto (collectively "Software") is subject
+    to InvenSense and its licensors' intellectual property rights under U.S. and international copyright and
+    other intellectual property rights laws.
+
+    InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+    and any use, reproduction, disclosure or distribution of the Software without an express license
+    agreement from InvenSense is strictly prohibited.
+*/
+
+/** \defgroup RingBuffer RingBuffer
+	\brief Macros to manage static circular buffer of any data type
+	\ingroup EmbUtils
+	\{
+*/
+
+#ifndef _RING_BUFFER_H_
+#define _RING_BUFFER_H_
+
+#include <stdint.h>
+#include <string.h>
+
+
+/** \brief  Macro to declare a ring buffer
+	\param[in] type		type of item contained in the ring buffer
+	\param[in] size 	number of items that can contain the ring buffer
+						To improve speed, size should be a power of 2
+*/
+#define RINGBUFFER_DECLARE(type, size) \
+	struct {	\
+		uint16_t 	read, write;	\
+		type	 	buffer[size]; 	\
+	}
+
+/** \brief  Macro to declare a volatile ring buffer, i.e. modified within an interrupt context
+	\param[in] type		type of item contained in the ring buffer
+	\param[in] size 	number of items that can contain the ring buffer
+						To improve speed, size should be a power of 2
+*/
+#define RINGBUFFER_VOLATILE_DECLARE(type, size) \
+	struct {	\
+		volatile uint16_t 	read, write;	\
+		volatile type	 	buffer[size]; 	\
+	}
+
+/** \brief  Macro to declare a ring buffer
+	\param[in] name 	name of the circular buffer
+	\param[in] size 	number of items that can contain the ring buffer
+						To improve speed, size should be a power of 2
+	\param[in] type		type of item contained in the ring buffer
+*/
+#define RINGBUFFER(name, size, type) RINGBUFFER_DECLARE(type, size) name
+
+/** \brief  Macro to declare a volatile ring buffer, i.e. modified within an interrupt context
+	\param[in] name 	name of the circular buffer
+	\param[in] size 	number of items that can contain the ring buffer
+						To improve speed, size should be a power of 2
+	\param[in] type		type of item contained in the ring buffer
+*/
+#define RINGBUFFER_VOLATILE(name, size, type) RINGBUFFER_VOLATILE_DECLARE(type, size) name
+
+/** \brief  Macro to get maximum size of a ring buffer
+	\param[in] rb 		pointer to the ring buffer
+	\return  	maximum number of items that can contain the ringbuffer
+*/
+#define RINGBUFFER_MAXSIZE(rb)		(sizeof((rb)->buffer)/sizeof((rb)->buffer[0]))
+
+/** \brief  Macro to get maximum size of a volatile ring buffer, i.e. modified within an interrupt context
+	\param[in] rb 		pointer to the ring buffer
+	\return  	maximum number of items that can contain the ringbuffer
+*/
+#define RINGBUFFER_VOLATILE_MAXSIZE(rb)		RINGBUFFER_MAXSIZE(rb)
+
+/** \brief   Macro to get current size of a ring buffer
+	\param[in] rb 		pointer to the ring buffer
+	\return  	current number of items hold in the ringbuffer
+*/
+#define RINGBUFFER_SIZE(rb) 		((uint16_t)((rb)->write - (rb)->read))
+
+static inline uint16_t get_ringbuffer_volatile_size(void * rb)
+{
+	struct { uint16_t read, write; } rb_var;
+	memcpy(&rb_var, rb, sizeof(rb_var));
+	return (rb_var.write - rb_var.read);
+}
+
+/** \brief   Macro to get current size of a volatile ring buffer, i.e. modified within an interrupt context
+	\param[in] rb 		pointer to the ring buffer
+	\return  	current number of items hold in the ringbuffer
+	\warning it is advised to put this in a critical section
+*/
+#define RINGBUFFER_VOLATILE_SIZE(rb)	get_ringbuffer_volatile_size(rb)
+
+/** \brief   Macro to check if a ring buffer is full
+	\param[in] rb 		pointer to the ring buffer
+	\return  	1 if there is no slot left in the ring buffer, 0 otherwise
+*/
+#define RINGBUFFER_FULL(rb) 		(RINGBUFFER_SIZE(rb) == RINGBUFFER_MAXSIZE(rb))
+
+/** \brief   Macro to check if a volatile ring buffer, i.e. modified within an interrupt context, is full
+	\param[in] rb 		pointer to the ring buffer
+	\return  	1 if there is no slot left in the ring buffer, 0 otherwise
+	\warning it is advised to put this in a critical section
+*/
+#define RINGBUFFER_VOLATILE_FULL(rb) 		(RINGBUFFER_VOLATILE_SIZE(rb) == RINGBUFFER_VOLATILE_MAXSIZE(rb))
+
+/** \brief   Macro to check if a ring buffer is empty
+	\param[in] rb 		pointer to the ring buffer
+	\return  	1 if there is no item in the ring buffer, 0 otherwise
+*/
+#define RINGBUFFER_EMPTY(rb) 		(RINGBUFFER_SIZE(rb) == 0)
+
+/** \brief   Macro to check if a volatile ring buffer, i.e. modified within an interrupt context, is empty
+	\param[in] rb 		pointer to the ring buffer
+	\return  	1 if there is no item in the ring buffer, 0 otherwise
+	\warning it is advised to put this in a critical section
+*/
+#define RINGBUFFER_VOLATILE_EMPTY(rb) 		(RINGBUFFER_VOLATILE_SIZE(rb) == 0)
+
+/** \brief   Macro to get number of available slot in a ring buffer
+	\param[in] rb 		pointer to the ring buffer
+	\return  	number of empty slot in the ring buffer
+*/
+#define RINGBUFFER_AVAILABLE(rb) 	(RINGBUFFER_MAXSIZE(rb) - RINGBUFFER_SIZE(rb))
+
+/** \brief   Macro to get number of available slot in a volatile ring buffer, i.e. modified within an interrupt context
+	\param[in] rb 		pointer to the ring buffer
+	\return  	number of empty slot in the ring buffer
+	\warning it is advised to put this in a critical section
+*/
+#define RINGBUFFER_VOLATILE_AVAILABLE(rb) 	(RINGBUFFER_VOLATILE_MAXSIZE(rb) - RINGBUFFER_VOLATILE_SIZE(rb))
+
+/** \brief   Macro to clear a ring buffer
+	\param[in] rb 		pointer to the ring buffer
+*/
+#define RINGBUFFER_CLEAR(rb)	\
+	do {	\
+		(rb)->read = 0, (rb)->write = 0;	\
+	} while(0)
+		
+/** \brief   Macro to clear a volatile ring buffer, i.e. modified within an interrupt context
+	\param[in] rb 		pointer to the ring buffer
+	\warning it is advised to put this in a critical section
+*/
+#define RINGBUFFER_VOLATILE_CLEAR(rb)	RINGBUFFER_CLEAR(rb)
+
+/** \brief   Push item by reference
+	\param[in] rb 			pointer to the ring buffer
+	\param[out] refData 	to available item slot
+	\warning There is no error checking done.
+*/
+#define RINGBUFFER_PUSHREF(rb, refData) \
+	do { \
+		refData = &(rb)->buffer[(rb)->write % RINGBUFFER_MAXSIZE(rb)];	\
+		++(rb)->write;	\
+	} while(0)
+
+/** \brief   Push item by reference
+	\param[in] rb 			pointer to the ring buffer
+	\param[out] refData 	to available item slot
+	\warning There is no error checking done.
+	\warning it is advised to put this in a critical section
+*/
+#define RINGBUFFER_VOLATILE_PUSHREF(rb, refData) \
+	do { \
+		uint16_t wr_ptr = (rb)->write; \
+		refData = &(rb)->buffer[wr_ptr % RINGBUFFER_VOLATILE_MAXSIZE(rb)];	\
+		++(rb)->write;	\
+	} while(0)
+
+/** \brief  Return reference to next available slot
+			No push is performed
+	\param[in] rb 			pointer to the ring buffer
+	\param[out] refData 	to available item slot
+	\warning There is no error checking done.
+*/
+#define RINGBUFFER_GETREFNEXT(rb, refData) \
+	do { \
+		refData = &(rb)->buffer[(rb)->write % RINGBUFFER_MAXSIZE(rb)];	\
+	} while(0)
+
+/** \brief  Return reference to next available slot
+			No push is performed
+	\param[in] rb 			pointer to the ring buffer
+	\param[out] refData 	to available item slot
+	\warning There is no error checking done.
+	\warning it is advised to put this in a critical section
+*/
+#define RINGBUFFER_VOLATILE_GETREFNEXT(rb, refData) \
+	do { \
+		uint16_t wr_ptr = (rb)->write; \
+		refData = &(rb)->buffer[wr_ptr % RINGBUFFER_VOLATILE_MAXSIZE(rb)];	\
+	} while(0)
+
+/** \brief  Increment write counter
+			Actually performed a push (assuming data were already copied)
+	\param[in] rb 			pointer to the ring buffer
+	\warning There is no error checking done.
+*/
+#define RINGBUFFER_INCREMENT(rb, refData) \
+	do { \
+		++(rb)->write;	\
+	} while(0)
+		
+/** \brief  Increment write counter
+			Actually performed a push (assuming data were already copied)
+	\param[in] rb 			pointer to the ring buffer
+	\warning There is no error checking done.
+	\warning it is advised to put this in a critical section
+*/
+#define RINGBUFFER_VOLATILE_INCREMENT(rb, refData) \
+	do { \
+		++(rb)->write;	\
+	} while(0)
+
+/** \brief   Return reference to youngest item
+	\param[in] rb 			pointer to the ring buffer
+	\param[out] refData 	reference to youngest item
+	\warning There is no error checking done.
+*/
+#define RINGBUFFER_BACK(rb, refData) \
+	do { \
+		refData = &(rb)->buffer[((rb)->write-1) % RINGBUFFER_MAXSIZE(rb)];	\
+	} while(0)
+
+/** \brief   Return reference to youngest item
+	\param[in] rb 			pointer to the ring buffer
+	\param[out] refData 	reference to youngest item
+	\warning There is no error checking done.
+	\warning it is advised to put this in a critical section
+*/
+#define RINGBUFFER_VOLATILE_BACK(rb, refData) \
+	do { \
+		uint16_t wr_ptr = (rb)->write; \
+		refData = &(rb)->buffer[(wr_ptr-1) % RINGBUFFER_VOLATILE_MAXSIZE(rb)];	\
+	} while(0)
+
+/** \brief   Macro to push an item to a ring buffer
+	\param[in] rb 		pointer to the ring buffer
+	\param[in] ptrData 	pointer to the item to push.
+	\warning There is no error checking done.
+	You must check for fullness before pushing data
+*/
+#define RINGBUFFER_PUSH(rb, ptrData)	\
+	do {	\
+		(rb)->buffer[(rb)->write % RINGBUFFER_MAXSIZE(rb)] = *ptrData;	\
+		++(rb)->write;	\
+	} while(0)
+
+/** \brief   Macro to push an item to a volatile ring buffer
+	\param[in] rb 		pointer to the ring buffer
+	\param[in] ptrData 	pointer to the item to push.
+	\warning There is no error checking done.
+	You must check for fullness before pushing data
+	\warning it is advised to put this in a critical section
+*/
+#define RINGBUFFER_VOLATILE_PUSH(rb, ptrData)	\
+	do {	\
+		uint16_t wr_ptr = (rb)->write; \
+		(rb)->buffer[wr_ptr % RINGBUFFER_VOLATILE_MAXSIZE(rb)] = *ptrData;	\
+		++(rb)->write;	\
+	} while(0)
+
+/** \brief   Macro to unpush an item to a ring buffer
+	\param[in] rb 		pointer to the ring buffer
+	\param[in] ptrData 	pointer to placeholder to hold unpushed item
+	\warning There is no error checking done.
+	You must check for emptiness before pushing data
+*/
+#define RINGBUFFER_UNPUSH(rb, ptrData)	\
+	do {	\
+		--(rb)->write;	\
+		*ptrData = (rb)->buffer[(rb)->write % RINGBUFFER_MAXSIZE(rb)];	\
+	} while(0)
+
+/** \brief   Macro to unpush an item to a volatile ring buffer
+	\param[in] rb 		pointer to the ring buffer
+	\param[in] ptrData 	pointer to placeholder to hold unpushed item
+	\warning There is no error checking done.
+	You must check for emptiness before pushing data
+	\warning it is advised to put this in a critical section
+*/
+#define RINGBUFFER_VOLATILE_UNPUSH(rb, ptrData)	\
+	do {	\
+		--(rb)->write;	\
+		uint16_t wr_ptr = (rb)->write; \
+		*ptrData = (rb)->buffer[wr_ptr % RINGBUFFER_VOLATILE_MAXSIZE(rb)];	\
+	} while(0)
+
+/** \brief   Return reference to oldest item
+	\param[in] rb 			pointer to the ring buffer
+	\param[out] refData 	reference to oldest item
+	\warning There is no error checking done.
+*/
+#define RINGBUFFER_FRONT(rb, refData) \
+	do { \
+		refData = &(rb)->buffer[(rb)->read % RINGBUFFER_MAXSIZE(rb)];	\
+	} while(0)
+
+/** \brief   Return reference to oldest item
+	\param[in] rb 			pointer to the ring buffer
+	\param[out] refData 	reference to oldest item
+	\warning There is no error checking done.
+	\warning it is advised to put this in a critical section
+*/
+#define RINGBUFFER_VOLATILE_FRONT(rb, refData) \
+	do { \
+		uint16_t rd_ptr = (rb)->read; \
+		refData = &(rb)->buffer[rd_ptr % RINGBUFFER_VOLATILE_MAXSIZE(rb)];	\
+	} while(0)
+
+/** \brief   Macro to pop an item from a ring buffer
+	\param[in] rb 			pointer to the ring buffer
+	\param[out] ptrData 	pointer to placeholder to hold popped item
+	\warning There is no error checking done.
+	You must check for emptiness before popping data
+*/
+#define RINGBUFFER_POP(rb, ptrData) \
+	do { \
+		*ptrData = (rb)->buffer[(rb)->read % RINGBUFFER_MAXSIZE(rb)];	\
+		++(rb)->read;	\
+	} while(0)
+
+/** \brief   Macro to pop an item from a volatile ring buffer
+	\param[in] rb 			pointer to the ring buffer
+	\param[out] ptrData 	pointer to placeholder to hold popped item
+	\warning There is no error checking done.
+	You must check for emptiness before popping data
+	\warning it is advised to put this in a critical section
+*/
+#define RINGBUFFER_VOLATILE_POP(rb, ptrData) \
+	do { \
+		uint16_t rd_ptr = (rb)->read; \
+		*ptrData = (rb)->buffer[rd_ptr % RINGBUFFER_VOLATILE_MAXSIZE(rb)];	\
+		++(rb)->read;	\
+	} while(0)
+
+/** \brief   Macro to pop an item from a ring buffer (data is not copied)
+	\param[in] rb 			pointer to the ring buffer
+	\warning There is no error checking done.
+	You must check for emptiness before popping data
+*/
+#define RINGBUFFER_POPNLOSE(rb) \
+	do { \
+		++(rb)->read;	\
+	} while(0)
+
+/** \brief   Macro to pop an item from a volatile ring buffer (data is not copied)
+	\param[in] rb 			pointer to the ring buffer
+	\warning There is no error checking done.
+	You must check for emptiness before popping data
+	\warning it is advised to put this in a critical section
+*/
+#define RINGBUFFER_VOLATILE_POPNLOSE(rb) \
+	do { \
+		++(rb)->read;	\
+	} while(0)
+
+/** \brief   Macro to unpop an item to a ring buffer
+	\param[in] rb 			pointer to the ring buffer
+	\param[out] ptrData 	pointer to to the item to unpop.
+	\warning There is no error checking done.
+	You must check for fullness before unpopping data
+*/
+#define RINGBUFFER_UNPOP(rb, ptrData) \
+	do { \
+		--(rb)->read;	\
+		(rb)->buffer[(rb)->read % RINGBUFFER_MAXSIZE(rb)] = *ptrData;	\
+	} while(0)
+
+/** \brief   Macro to unpop an item to a volatile ring buffer
+	\param[in] rb 			pointer to the ring buffer
+	\param[out] ptrData 	pointer to to the item to unpop.
+	\warning There is no error checking done.
+	You must check for fullness before unpopping data
+	\warning it is advised to put this in a critical section
+*/
+#define RINGBUFFER_VOLATILE_UNPOP(rb, ptrData) \
+	do { \
+		--(rb)->read;	\
+		uint16_t rd_ptr = (rb)->read; \
+		(rb)->buffer[rd_ptr % RINGBUFFER_VOLATILE_MAXSIZE(rb)] = *ptrData;	\
+	} while(0)
+
+#endif
+
+/** \} */

project/ble_peripheral/ble_app_bladder_patch/measurement/imu/Invn/InvBool.h

@@ -0,0 +1,47 @@
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively “Software”) is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+/** @brief    Custom definition for boolean type to avoid compiler discrepancies
+ *	@{
+ */
+
+#ifndef _INV_BOOL_H_
+#define _INV_BOOL_H_
+
+typedef int inv_bool_t;
+
+#ifndef __cplusplus
+
+#ifndef true
+	#define true    1
+#endif
+
+#ifndef false
+	#define false   0
+#endif
+
+#endif /* __cplusplus */
+
+#endif /* _INV_BOOL_H_ */
+
+/** @} */

project/ble_peripheral/ble_app_bladder_patch/measurement/imu/Invn/InvError.h

@@ -0,0 +1,64 @@
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively “Software”) is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+/** @defgroup InvError Error code
+ *	@brief    Common error code
+ *
+ *	@ingroup EmbUtils
+ *	@{
+ */
+
+#ifndef _INV_ERROR_H_
+#define _INV_ERROR_H_
+
+/** @brief Common error code definition
+ */
+enum inv_error
+{
+	INV_ERROR_SUCCESS      = 0,   /**< no error */
+	INV_ERROR              = -1,  /**< unspecified error */
+	INV_ERROR_NIMPL        = -2,  /**< function not implemented for given
+	                                   arguments */
+	INV_ERROR_TRANSPORT    = -3,  /**< error occurred at transport level */
+	INV_ERROR_TIMEOUT      = -4,  /**< action did not complete in the expected
+	                                   time window */
+	INV_ERROR_SIZE         = -5,  /**< size/length of given arguments is not
+	                                   suitable to complete requested action */
+	INV_ERROR_OS           = -6,  /**< error related to OS */
+	INV_ERROR_IO           = -7,  /**< error related to IO operation */
+	INV_ERROR_MEM          = -9,  /**< not enough memory to complete requested
+	                                   action */
+	INV_ERROR_HW           = -10, /**< error at HW level */
+	INV_ERROR_BAD_ARG      = -11, /**< provided arguments are not good to
+	                                   perform requested action */
+	INV_ERROR_UNEXPECTED   = -12, /**< something unexpected happened */
+	INV_ERROR_FILE         = -13, /**< cannot access file or unexpected format */
+	INV_ERROR_PATH         = -14, /**< invalid file path */
+	INV_ERROR_IMAGE_TYPE   = -15, /**< error when image type is not managed */
+	INV_ERROR_WATCHDOG     = -16, /**< error when device doesn't respond 
+									   to ping */
+};
+
+#endif /* _INV_ERROR_H_ */
+
+/** @} */

project/ble_peripheral/ble_app_bladder_patch/measurement/imu/Invn/InvExport.h

@@ -0,0 +1,39 @@
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively “Software”) is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+#ifndef _INV_IDD_EXPORT_H_
+#define _INV_IDD_EXPORT_H_
+
+#if defined(_WIN32)
+	#if !defined(INV_EXPORT) && defined(INV_DO_DLL_EXPORT)
+		#define INV_EXPORT __declspec(dllexport)
+	#elif !defined(INV_EXPORT) && defined(INV_DO_DLL_IMPORT)
+		#define INV_EXPORT __declspec(dllimport)
+	#endif
+#endif
+
+#if !defined(INV_EXPORT)
+	#define INV_EXPORT
+#endif
+
+#endif /* _INV_IDD_EXPORT_H_ */

project/ble_peripheral/ble_app_bladder_patch/measurement/imu/Invn/imu/inv_imu_apex.c

@@ -0,0 +1,370 @@
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2017 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively "Software") is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+#include "inv_imu_defs.h"
+#include "inv_imu_extfunc.h"
+#include "inv_imu_driver.h"
+#include "inv_imu_apex.h"
+
+int inv_imu_apex_enable_ff(struct inv_imu_device *s)
+{
+	int status = 0;
+	uint8_t value;
+	
+	status |= inv_imu_start_dmp(s);
+	
+	status |= inv_imu_read_reg(s, APEX_CONFIG1, 1, &value);
+	value &= ~APEX_CONFIG1_FF_ENABLE_MASK;
+	value |= (uint8_t)APEX_CONFIG1_FF_ENABLE_EN;
+	status |= inv_imu_write_reg(s, APEX_CONFIG1, 1, &value);
+	
+	return status;
+}
+
+int inv_imu_apex_disable_ff(struct inv_imu_device *s)
+{
+	int status = 0;
+	uint8_t value;
+
+	status |= inv_imu_read_reg(s, APEX_CONFIG1, 1, &value);
+	value &= ~APEX_CONFIG1_FF_ENABLE_MASK;
+	value |= (uint8_t)APEX_CONFIG1_FF_ENABLE_DIS;
+	status |= inv_imu_write_reg(s, APEX_CONFIG1, 1, &value);
+	
+	return status;
+}
+
+int inv_imu_apex_enable_smd(struct inv_imu_device *s)
+{
+	int status = 0;
+	uint8_t value;
+	
+	status |= inv_imu_start_dmp(s);
+	
+	status |= inv_imu_read_reg(s, APEX_CONFIG1, 1, &value);
+	value &= ~APEX_CONFIG1_SMD_ENABLE_MASK;
+	value |= (uint8_t)APEX_CONFIG1_SMD_ENABLE_EN;
+	status |= inv_imu_write_reg(s, APEX_CONFIG1, 1, &value);
+    	
+	return status;
+}
+
+int inv_imu_apex_disable_smd(struct inv_imu_device *s)
+{
+	int status = 0;
+	uint8_t value;
+
+	status |= inv_imu_read_reg(s, APEX_CONFIG1, 1, &value);
+	value &= ~APEX_CONFIG1_SMD_ENABLE_MASK;
+	value |= (uint8_t)APEX_CONFIG1_SMD_ENABLE_DIS;
+	status |= inv_imu_write_reg(s, APEX_CONFIG1, 1, &value);
+
+	return status;
+}
+
+int inv_imu_apex_init_parameters_struct(struct inv_imu_device *s, inv_imu_apex_parameters_t *apex_inputs)
+{
+	int status = 0;
+	(void)s;
+	
+	/* Default parameters at POR */
+	apex_inputs->pedo_amp_th          = APEX_CONFIG3_PEDO_AMP_TH_62_MG;
+	apex_inputs->pedo_step_cnt_th     = 0x5;
+	apex_inputs->pedo_step_det_th     = 0x2;
+	apex_inputs->pedo_sb_timer_th     = APEX_CONFIG4_PEDO_SB_TIMER_TH_150_SAMPLES;
+	apex_inputs->pedo_hi_enrgy_th     = APEX_CONFIG4_PEDO_HI_ENRGY_TH_104_MG;
+	apex_inputs->tilt_wait_time       = APEX_CONFIG5_TILT_WAIT_TIME_4_S;
+	apex_inputs->power_save_time      = APEX_CONFIG2_DMP_POWER_SAVE_TIME_SEL_8_S;
+	apex_inputs->power_save           = APEX_CONFIG0_DMP_POWER_SAVE_EN;
+	apex_inputs->sensitivity_mode     = APEX_CONFIG9_SENSITIVITY_MODE_NORMAL;
+	apex_inputs->low_energy_amp_th    = APEX_CONFIG2_LOW_ENERGY_AMP_TH_SEL_80_MG;
+	apex_inputs->smd_sensitivity      = APEX_CONFIG9_SMD_SENSITIVITY_0;
+	apex_inputs->ff_debounce_duration = APEX_CONFIG9_FF_DEBOUNCE_DURATION_2000_MS;
+	apex_inputs->ff_max_duration_cm   = APEX_CONFIG12_FF_MAX_DURATION_204_CM;
+	apex_inputs->ff_min_duration_cm   = APEX_CONFIG12_FF_MIN_DURATION_10_CM;
+	apex_inputs->lowg_peak_th         = APEX_CONFIG10_LOWG_PEAK_TH_563_MG;
+	apex_inputs->lowg_peak_hyst       = APEX_CONFIG5_LOWG_PEAK_TH_HYST_156_MG;
+	apex_inputs->lowg_samples_th      = APEX_CONFIG10_LOWG_TIME_TH_1_SAMPLE;
+	apex_inputs->highg_peak_th        = APEX_CONFIG11_HIGHG_PEAK_TH_2500_MG;
+	apex_inputs->highg_peak_hyst      = APEX_CONFIG5_HIGHG_PEAK_TH_HYST_156_MG;
+	apex_inputs->highg_samples_th     = APEX_CONFIG11_HIGHG_TIME_TH_1_SAMPLE;
+
+	return status;
+}
+
+int inv_imu_apex_configure_parameters(struct inv_imu_device *s, const inv_imu_apex_parameters_t *apex_inputs)
+{
+	int status = 0;
+	uint8_t data;
+	uint8_t apexConfig[7];
+	APEX_CONFIG1_PED_ENABLE_t pedo_state;
+	APEX_CONFIG1_TILT_ENABLE_t tilt_state;
+	APEX_CONFIG1_FF_ENABLE_t ff_state;
+	APEX_CONFIG1_SMD_ENABLE_t smd_state;
+	
+	/* DMP cannot be configured if it is running, hence make sure all APEX algorithms are off */
+	status |= inv_imu_read_reg(s, APEX_CONFIG1, 1, &data);
+	pedo_state  = (APEX_CONFIG1_PED_ENABLE_t)(data & APEX_CONFIG1_PED_ENABLE_MASK);
+	tilt_state  = (APEX_CONFIG1_TILT_ENABLE_t)(data & APEX_CONFIG1_TILT_ENABLE_MASK);
+	ff_state  = (APEX_CONFIG1_FF_ENABLE_t)(data & APEX_CONFIG1_FF_ENABLE_MASK);
+	smd_state  = (APEX_CONFIG1_SMD_ENABLE_t)(data & APEX_CONFIG1_SMD_ENABLE_MASK);
+	if (pedo_state == APEX_CONFIG1_PED_ENABLE_EN)
+		return INV_ERROR;
+	if (tilt_state == APEX_CONFIG1_TILT_ENABLE_EN)
+		return INV_ERROR;
+	if (ff_state == APEX_CONFIG1_FF_ENABLE_EN)
+		return INV_ERROR;
+	if (smd_state == APEX_CONFIG1_SMD_ENABLE_EN)
+		return INV_ERROR;
+	
+	
+	status |= inv_imu_switch_on_mclk(s);
+
+	/* Power Save mode and low energy amplitude threshold (for Pedometer in Slow Walk mode) */
+	/* APEX_CONFIG2_MREG1 */
+	apexConfig[0] =   (uint8_t)apex_inputs->power_save_time 
+	                | (uint8_t)apex_inputs->low_energy_amp_th;
+
+	/* Pedometer parameters */
+	/* APEX_CONFIG3_MREG1 */
+	apexConfig[1] =   (uint8_t)apex_inputs->pedo_amp_th 
+	                | (apex_inputs->pedo_step_cnt_th & APEX_CONFIG3_PED_STEP_CNT_TH_SEL_MASK);
+
+	/* APEX_CONFIG4_MREG1 */
+	apexConfig[2] =   ((apex_inputs->pedo_step_det_th << APEX_CONFIG4_PED_STEP_DET_TH_SEL_POS) 
+	                & APEX_CONFIG4_PED_STEP_DET_TH_SEL_MASK)
+	                | (uint8_t)apex_inputs->pedo_sb_timer_th 
+	                | (uint8_t)apex_inputs->pedo_hi_enrgy_th;
+
+	/* Tilt, Lowg and highg parameters */
+	/* APEX_CONFIG5_MREG1 */
+	apexConfig[3] =   (uint8_t)apex_inputs->tilt_wait_time 
+	                | (uint8_t)apex_inputs->lowg_peak_hyst 
+	                | (uint8_t)apex_inputs->highg_peak_hyst;
+
+	status |= inv_imu_write_reg(s, APEX_CONFIG2_MREG1, 4, &apexConfig[0]);
+
+
+	/* APEX_CONFIG0 */
+	status |= inv_imu_read_reg(s, APEX_CONFIG0, 1, &apexConfig[0]);
+	apexConfig[0] &= ~APEX_CONFIG0_DMP_POWER_SAVE_EN_MASK;
+	apexConfig[0] |= apex_inputs->power_save;
+	status |= inv_imu_write_reg(s, APEX_CONFIG0, 1, &apexConfig[0]);
+	
+	/* free fall parameter, SMD parameter and parameters for Pedometer in Slow Walk mode */
+	/* APEX_CONFIG9_MREG1 */
+	apexConfig[0] =   (uint8_t)apex_inputs->ff_debounce_duration 
+	                | (uint8_t)apex_inputs->smd_sensitivity 
+	                | (uint8_t)apex_inputs->sensitivity_mode;
+	
+	/* Lowg and highg parameters and free fall parameters */
+	/* APEX_CONFIG10_MREG1 */
+	apexConfig[1] =   (uint8_t)apex_inputs->lowg_peak_th 
+	                | (uint8_t)apex_inputs->lowg_samples_th;
+
+	/* APEX_CONFIG11_MREG1 */
+	apexConfig[2] =   (uint8_t)apex_inputs->highg_peak_th 
+	                | (uint8_t)apex_inputs->highg_samples_th;
+
+	status |= inv_imu_write_reg(s, APEX_CONFIG9_MREG1, 3, &apexConfig[0]);
+	
+	
+	/* APEX_CONFIG12_MREG1 */
+	apexConfig[0] =   (uint8_t)apex_inputs->ff_max_duration_cm 
+	                | (uint8_t)apex_inputs->ff_min_duration_cm;
+	
+	status |= inv_imu_write_reg(s, APEX_CONFIG12_MREG1, 1, &apexConfig[0]);
+
+	status |= inv_imu_switch_off_mclk(s);
+
+	return status;
+}
+
+int inv_imu_apex_get_parameters(struct inv_imu_device *s, inv_imu_apex_parameters_t *apex_params)
+{
+	int status = 0;
+	uint8_t data[7];
+	uint8_t value;
+	
+	status |= inv_imu_read_reg(s, APEX_CONFIG0, 1, &value);
+	apex_params->power_save = (APEX_CONFIG0_DMP_POWER_SAVE_t)(value & APEX_CONFIG0_DMP_POWER_SAVE_EN_MASK);
+	
+	/* Access continuous config registers (CONFIG2-CONFIG11) */
+	status |= inv_imu_read_reg(s, APEX_CONFIG2_MREG1, sizeof(data), &data[0]);
+	
+	/* Get params from apex_config2 : dmp_power_save_time and low_energy_amp_th */
+	apex_params->power_save_time = (APEX_CONFIG2_DMP_POWER_SAVE_TIME_t)
+	                               (data[0] & APEX_CONFIG2_DMP_POWER_SAVE_TIME_SEL_MASK);
+	apex_params->low_energy_amp_th = (APEX_CONFIG2_LOW_ENERGY_AMP_TH_t)
+	                                 (data[0] & APEX_CONFIG2_LOW_ENERGY_AMP_TH_SEL_MASK);
+	
+	/* Get params from apex_config3 : pedo_amp_th and pedo_step_cnt_th */
+	apex_params->pedo_amp_th = (APEX_CONFIG3_PEDO_AMP_TH_t)
+	                           (data[1] & APEX_CONFIG3_PED_AMP_TH_SEL_MASK);
+	apex_params->pedo_step_cnt_th =    (data[1] & APEX_CONFIG3_PED_STEP_CNT_TH_SEL_MASK) 
+	                                >> APEX_CONFIG3_PED_STEP_CNT_TH_SEL_POS;
+	
+	/* Get params from apex_config4 : pedo_step_det_th, pedo_sb_timer_th and pedo_hi_enrgy_th */
+	apex_params->pedo_step_det_th =    (data[2] & APEX_CONFIG4_PED_STEP_DET_TH_SEL_MASK) 
+	                                >> APEX_CONFIG4_PED_STEP_DET_TH_SEL_POS;
+	apex_params->pedo_sb_timer_th = (APEX_CONFIG4_PEDO_SB_TIMER_TH_t)
+	                                (data[2] & APEX_CONFIG4_PED_SB_TIMER_TH_SEL_MASK);
+	apex_params->pedo_hi_enrgy_th = (APEX_CONFIG4_PEDO_HI_ENRGY_TH_t)
+	                                (data[2] & APEX_CONFIG4_PED_HI_EN_TH_SEL_MASK);
+	
+	/* Get params from apex_config5 : tilt_wait_time, lowg_peak_hyst and highg_peak_hyst */
+	apex_params->tilt_wait_time = (APEX_CONFIG5_TILT_WAIT_TIME_t)
+	                              (data[3] & APEX_CONFIG5_TILT_WAIT_TIME_SEL_MASK);
+	apex_params->lowg_peak_hyst = (APEX_CONFIG5_LOWG_PEAK_TH_HYST_t)
+	                              (data[3] & APEX_CONFIG5_LOWG_PEAK_TH_HYST_SEL_MASK);
+	apex_params->highg_peak_hyst = (APEX_CONFIG5_HIGHG_PEAK_TH_HYST_t)
+	                               (data[3] & APEX_CONFIG5_HIGHG_PEAK_TH_HYST_SEL_MASK);
+	
+	/* Get params from apex_config9 : ff_debounce_duration, smd_sensitivity and sensitivity_mode */
+	apex_params->ff_debounce_duration = (APEX_CONFIG9_FF_DEBOUNCE_DURATION_t)
+	                                    (data[4] & APEX_CONFIG9_FF_DEBOUNCE_DURATION_SEL_MASK);
+	apex_params->smd_sensitivity = (APEX_CONFIG9_SMD_SENSITIVITY_t)
+	                               (data[4] & APEX_CONFIG9_SMD_SENSITIVITY_SEL_MASK);
+	apex_params->sensitivity_mode = (APEX_CONFIG9_SENSITIVITY_MODE_t)
+	                                (data[4] & APEX_CONFIG9_SENSITIVITY_MODE_MASK);
+	
+	/* Get params from apex_config10 : lowg_peak_th and lowg_samples_th */
+	apex_params->lowg_peak_th = (APEX_CONFIG10_LOWG_PEAK_TH_t)
+	                            (data[5] & APEX_CONFIG10_LOWG_PEAK_TH_SEL_MASK);
+	apex_params->lowg_samples_th = (APEX_CONFIG10_LOWG_TIME_TH_SAMPLES_t)
+	                               (data[5] & APEX_CONFIG10_LOWG_TIME_TH_SEL_MASK);
+	
+	/* Get params from apex_config11 : highg_peak_th and highg_samples_th */
+	apex_params->highg_peak_th = (APEX_CONFIG11_HIGHG_PEAK_TH_t)
+	                             (data[6] & APEX_CONFIG11_HIGHG_PEAK_TH_SEL_MASK);
+	apex_params->highg_samples_th = (APEX_CONFIG11_HIGHG_TIME_TH_SAMPLES_t)
+	                                (data[6] & APEX_CONFIG11_HIGHG_TIME_TH_SEL_MASK);
+	
+	/* Access apex reg 12 */
+	status |= inv_imu_read_reg(s, APEX_CONFIG12_MREG1, 1, &data[0]);
+	
+	/* Get params from apex_config12 : ff_max_duration_cm and ff_min_duration_cm */
+	apex_params->ff_max_duration_cm = (APEX_CONFIG12_FF_MAX_DURATION_t)
+	                                  (data[0] & APEX_CONFIG12_FF_MAX_DURATION_SEL_MASK);
+	apex_params->ff_min_duration_cm = (APEX_CONFIG12_FF_MIN_DURATION_t)
+	                                  (data[0] & APEX_CONFIG12_FF_MIN_DURATION_SEL_MASK);
+
+	return status;
+}
+
+int inv_imu_apex_set_frequency(struct inv_imu_device *s, const APEX_CONFIG1_DMP_ODR_t frequency)
+{
+	uint8_t value;
+	int status = 0;
+
+	status |= inv_imu_read_reg(s, APEX_CONFIG1, 1, &value);
+
+	value &= ~APEX_CONFIG1_DMP_ODR_MASK;
+	value |= frequency;
+
+	status |= inv_imu_write_reg(s, APEX_CONFIG1, 1, &value);
+	return status;
+}
+
+int inv_imu_apex_enable_pedometer(struct inv_imu_device *s)
+{
+	int status = 0;
+	uint8_t value;
+	
+	status |= inv_imu_start_dmp(s);
+    
+	/* Enable Pedometer */
+	status |= inv_imu_read_reg(s, APEX_CONFIG1, 1, &value);
+	value &= ~APEX_CONFIG1_PED_ENABLE_MASK;
+	value |= (uint8_t)APEX_CONFIG1_PED_ENABLE_EN;
+	status |= inv_imu_write_reg(s, APEX_CONFIG1, 1, &value);
+	
+	return status;
+}
+
+int inv_imu_apex_disable_pedometer(struct inv_imu_device *s)
+{
+	int status = 0;
+	uint8_t value;
+    
+	/* Disable Pedometer */
+	status |= inv_imu_read_reg(s, APEX_CONFIG1, 1, &value);
+	value &= ~APEX_CONFIG1_PED_ENABLE_MASK;
+	value |= (uint8_t)APEX_CONFIG1_PED_ENABLE_DIS;
+	status |= inv_imu_write_reg(s, APEX_CONFIG1, 1, &value);
+	
+	return status;
+}
+
+int inv_imu_apex_enable_tilt(struct inv_imu_device *s)
+{
+	int status = 0;
+	uint8_t value;
+	
+	status |= inv_imu_start_dmp(s);
+    
+	/* Enable Tilt */
+	status |= inv_imu_read_reg(s, APEX_CONFIG1, 1, &value);
+	value &= ~APEX_CONFIG1_TILT_ENABLE_MASK;
+	value |= (uint8_t)APEX_CONFIG1_TILT_ENABLE_EN;
+	status |= inv_imu_write_reg(s, APEX_CONFIG1, 1, &value);
+	
+	return status;
+}
+
+int inv_imu_apex_disable_tilt(struct inv_imu_device *s)
+{
+	int status = 0;
+	uint8_t value;
+    
+	/* Disable Tilt */
+	status |= inv_imu_read_reg(s, APEX_CONFIG1, 1, &value);
+	value &= ~APEX_CONFIG1_TILT_ENABLE_MASK;
+	value |= (uint8_t)APEX_CONFIG1_TILT_ENABLE_DIS;
+	status |= inv_imu_write_reg(s, APEX_CONFIG1, 1, &value);
+	
+	return status;
+}
+
+int inv_imu_apex_get_data_activity(struct inv_imu_device *s, inv_imu_apex_step_activity_t *apex_activity)
+{
+	uint8_t data[4];
+	int status = inv_imu_read_reg(s, APEX_DATA0, 4, data);
+	
+	apex_activity->step_cnt = data[1] << 8 | data[0];
+	apex_activity->step_cadence = data[2];
+	apex_activity->activity_class = data[3] & APEX_DATA3_ACTIVITY_CLASS_MASK;
+	
+	return status;
+}
+
+int inv_imu_apex_get_data_free_fall(struct inv_imu_device *s, uint16_t *freefall_duration)
+{
+	uint8_t data[2];
+	int status = inv_imu_read_reg(s, APEX_DATA4, 2, &data[0]);
+	
+	*freefall_duration = (data[1] << 8) | data[0];
+	
+	return status;
+}
+

project/ble_peripheral/ble_app_bladder_patch/measurement/imu/Invn/imu/inv_imu_apex.h

@@ -0,0 +1,185 @@
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2017 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively "Software") is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+/** @defgroup DriverApex IMU driver high level functions related to APEX and the DMP
+ *  @brief High-level function to setup an IMU device
+ *  @ingroup  Driver
+ *  @{
+ */
+
+/** @file inv_imu_apex.h
+ * High-level function to setup an IMU device
+ */
+
+#ifndef _INV_IMU_APEX_H_
+#define _INV_IMU_APEX_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "inv_imu_defs.h"
+
+#include "InvError.h"
+
+#include <stdint.h>
+#include <string.h>
+
+/* Forward declarations */
+struct inv_imu_device;
+
+/** @brief IMU APEX inputs parameters definition
+ */
+typedef struct {
+	APEX_CONFIG3_PEDO_AMP_TH_t pedo_amp_th;
+	uint8_t pedo_step_cnt_th;
+	uint8_t pedo_step_det_th;
+	APEX_CONFIG4_PEDO_SB_TIMER_TH_t pedo_sb_timer_th;
+	APEX_CONFIG4_PEDO_HI_ENRGY_TH_t pedo_hi_enrgy_th;
+	APEX_CONFIG5_TILT_WAIT_TIME_t tilt_wait_time;
+	APEX_CONFIG2_DMP_POWER_SAVE_TIME_t power_save_time;
+	APEX_CONFIG0_DMP_POWER_SAVE_t power_save;
+	APEX_CONFIG9_SENSITIVITY_MODE_t sensitivity_mode;
+	APEX_CONFIG2_LOW_ENERGY_AMP_TH_t low_energy_amp_th;
+	APEX_CONFIG9_SMD_SENSITIVITY_t smd_sensitivity;
+	APEX_CONFIG9_FF_DEBOUNCE_DURATION_t ff_debounce_duration;
+	APEX_CONFIG12_FF_MAX_DURATION_t ff_max_duration_cm;
+	APEX_CONFIG12_FF_MIN_DURATION_t ff_min_duration_cm;
+	APEX_CONFIG10_LOWG_PEAK_TH_t lowg_peak_th;
+	APEX_CONFIG5_LOWG_PEAK_TH_HYST_t lowg_peak_hyst;
+	APEX_CONFIG10_LOWG_TIME_TH_SAMPLES_t lowg_samples_th;
+	APEX_CONFIG11_HIGHG_PEAK_TH_t highg_peak_th;
+	APEX_CONFIG5_HIGHG_PEAK_TH_HYST_t highg_peak_hyst;
+	APEX_CONFIG11_HIGHG_TIME_TH_SAMPLES_t highg_samples_th;
+} inv_imu_apex_parameters_t;
+
+/** @brief APEX pedometer outputs
+ */
+typedef struct inv_imu_apex_step_activity {
+	uint16_t step_cnt;      /**< Number of steps taken */
+	uint8_t step_cadence;   /**< Walk/run cadence in number of samples. 
+	                             Format is u6.2. E.g, At 50Hz and 2Hz walk frequency, if the cadency is 25 samples. 
+	                             The register will output 100. */
+	uint8_t activity_class; /**< Detected activity unknown (0), walk (1) or run (2) */
+} inv_imu_apex_step_activity_t;
+
+/** @brief  Enable Free Fall.
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_apex_enable_ff(struct inv_imu_device *s);
+
+/** @brief  Disable Free Fall.
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_apex_disable_ff(struct inv_imu_device *s);
+
+/** @brief  Enable Significant Motion Detection.
+ *  note : SMD requests to have the accelerometer enabled to work.
+ *  To have good performance, it's recommended to set accelerometer ODR (Output Data Rate) to 20ms
+ *  and the accelerometer in Low Power Mode.
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_apex_enable_smd(struct inv_imu_device *s);
+
+/** @brief  Disable Significant Motion Detection.
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_apex_disable_smd(struct inv_imu_device *s);
+
+/** @brief Fill the APEX parameters structure with all the default parameters for APEX algorithms (pedometer, tilt)
+ *  @param[out] apex_inputs Default input parameters. See @sa inv_imu_apex_parameters_t 
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_apex_init_parameters_struct(struct inv_imu_device *s, inv_imu_apex_parameters_t *apex_inputs);
+
+/** @brief Configures DMP parameters for APEX algorithms (pedometer, tilt, lowg, highg). 
+ *         This programmable parameters will be decoded and propagate to the SRAM to be executed at DMP start.
+ *  @param[in] apex_inputs The requested input parameters. See @sa inv_imu_apex_parameters_t
+ *  @warning APEX inputs can't change on the fly, this API should be called before enabling any APEX features.
+ *  @warning APEX configuration can't be done too frequently, but only once every 10ms. 
+ *           Otherwise it can create unknown behavior.
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_apex_configure_parameters(struct inv_imu_device *s, const inv_imu_apex_parameters_t *apex_inputs);
+
+/** @brief Returns current DMP parameters for APEX algorithms (pedometer, tilt).
+ *  @param[out] apex_params The current parameter, fetched from registers. See @sa inv_imu_apex_parameters_t
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_apex_get_parameters(struct inv_imu_device *s, inv_imu_apex_parameters_t *apex_params);
+
+/** @brief Configure DMP Output Data Rate for APEX algorithms (pedometer, tilt)
+ *  @param[in] frequency The requested frequency.
+ *  @sa APEX_CONFIG1_DMP_ODR_t
+ *  @warning DMP_ODR can change on the fly, and the DMP code will accommodate necessary modifications
+ *  @warning The user needs to take care to set Accel frequency >= DMP frequency. This is a hard constraint 
+ since HW will not handle incorrect setting.
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_apex_set_frequency(struct inv_imu_device *s, const APEX_CONFIG1_DMP_ODR_t frequency);
+
+/** @brief  Enable APEX algorithm Pedometer.
+ *  note : Pedometer request to have the accelerometer enabled to works 
+ *         with accelerometer frequency less than dmp frequency. 
+ *  @return 0 on success, negative value on error.
+ *  @warning Pedometer must be turned OFF to reconfigure it
+ */
+int inv_imu_apex_enable_pedometer(struct inv_imu_device *s);
+
+/** @brief  Disable APEX algorithm Pedometer.
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_apex_disable_pedometer(struct inv_imu_device *s);
+
+/** @brief  Enable APEX algorithm Tilt.
+ *  note : Tilt request to have the accelerometer enabled to works 
+ *         with accelerometer frequency less than dmp frequency. 
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_apex_enable_tilt(struct inv_imu_device *s);
+
+/** @brief  Disable APEX algorithm Tilt.
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_apex_disable_tilt(struct inv_imu_device *s);
+
+/** @brief  Retrieve APEX pedometer outputs and format them
+ *  @param[out] apex_activity Apex step and activity data value.
+ *  @return 0 in case of success, negative value on error. See enum inv_error
+ */
+int inv_imu_apex_get_data_activity(struct inv_imu_device *s, inv_imu_apex_step_activity_t *apex_activity);
+
+/** @brief  Retrieve APEX free fall outputs and format them
+ *  @param[out] Free fall duration in number of sample.
+ *  @return 0 in case of success, negative value on error. See enum inv_error
+ */
+int inv_imu_apex_get_data_free_fall(struct inv_imu_device *s, uint16_t *freefall_duration);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _INV_IMU_APEX_H_ */
+
+/** @} */

project/ble_peripheral/ble_app_bladder_patch/measurement/imu/Invn/imu/inv_imu_driver.h

@@ -0,0 +1,520 @@
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2017 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively "Software") is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+/** @defgroup Driver IMU driver high level functions
+ *  @brief High-level function to setup an IMU device
+ *  @ingroup  DriverIcm
+ *  @{
+ */
+
+/** @file inv_imu_driver.h
+ * High-level function to setup an IMU device
+ */
+
+#ifndef _INV_IMU_DRIVER_H_
+#define _INV_IMU_DRIVER_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "inv_imu_defs.h"
+#include "inv_imu_transport.h"
+
+#include "InvError.h"
+
+#include <stdint.h>
+#include <string.h>
+
+
+/** @brief IMU max FSR values for accel and gyro
+ *  Dependent on chip
+ */
+#define ACCEL_CONFIG0_FS_SEL_MAX ACCEL_CONFIG0_FS_SEL_16g
+#define GYRO_CONFIG0_FS_SEL_MAX  GYRO_CONFIG0_FS_SEL_2000dps
+
+#define ACCEL_OFFUSER_MAX_MG 1000 
+#define GYRO_OFFUSER_MAX_DPS 64
+
+/** @brief IMU maximum buffer size mirrored from FIFO at polling time
+ *  @warning fifo_idx type variable must be large enough to parse the FIFO_MIRRORING_SIZE
+ */
+#define FIFO_MIRRORING_SIZE 16 * 258 // packet size * max_count = 4kB
+
+/** @brief IMU Accelerometer start-up time before having correct data
+ */
+#define ACC_STARTUP_TIME_US 10000
+
+/** @brief IMU Gyroscope start-up time before having correct data
+ */
+#define GYR_STARTUP_TIME_US 70000
+
+/** @brief IMU Gyroscope power off to power on duration
+ */
+#define GYR_POWER_OFF_DUR_US 20000	
+
+/** @brief Sensor identifier for UI control function
+ */
+enum inv_imu_sensor {
+	INV_SENSOR_ACCEL,               /**< Accelerometer */
+	INV_SENSOR_GYRO,                /**< Gyroscope */
+	INV_SENSOR_FSYNC_EVENT,         /**< FSYNC */
+	INV_SENSOR_TEMPERATURE,         /**< Chip temperature */
+	INV_SENSOR_DMP_PEDOMETER_EVENT, /**< Pedometer: step detected */
+	INV_SENSOR_DMP_PEDOMETER_COUNT, /**< Pedometer: step counter */
+	INV_SENSOR_DMP_TILT,            /**< Tilt */
+	INV_SENSOR_DMP_FF,              /**< FreeFall */
+	INV_SENSOR_DMP_LOWG,            /**< Low G */
+	INV_SENSOR_DMP_SMD,             /**< Significant Motion Detection */
+	INV_SENSOR_MAX
+};
+
+/** @brief Configure Fifo usage
+ */
+typedef enum {
+	INV_IMU_FIFO_DISABLED = 0,      /**< Fifo is disabled and data source is sensors registers */
+	INV_IMU_FIFO_ENABLED  = 1,      /**< Fifo is used as data source */
+}INV_IMU_FIFO_CONFIG_t;
+
+/** @brief Sensor event structure definition
+ */
+typedef struct {
+	int sensor_mask;
+	uint16_t timestamp_fsync;
+	int16_t accel[3]; 
+	int16_t gyro[3]; 
+	int16_t temperature;
+	int8_t accel_high_res[3];
+	int8_t gyro_high_res[3];
+} inv_imu_sensor_event_t;
+
+/** @brief IMU driver states definition
+ */
+struct inv_imu_device {
+	struct inv_imu_transport transport;                     /**< Transport layer
+	                                                             Must be the first one of struct inv_imu_device */
+	void (*sensor_event_cb)(inv_imu_sensor_event_t *event); /**< callback executed by:
+	                                                             inv_imu_get_data_from_fifo (if FIFO is used)
+	                                                             inv_imu_get_data_from_registers (if FIFO isn't used)
+	                                                             May be NULL if above API are not used by application */
+	uint8_t fifo_data[FIFO_MIRRORING_SIZE];                 /**< FIFO mirroring memory area */
+	uint8_t dmp_is_on;                                      /**< DMP started status */
+	uint8_t endianness_data;                                /**< Data endianness configuration */
+	uint8_t fifo_highres_enabled;                           /**< Highres mode configuration */
+	INV_IMU_FIFO_CONFIG_t fifo_is_used;                     /**< FIFO configuration */
+	uint64_t gyro_start_time_us;                            /**< Gyro start time used to discard first samples */
+	uint64_t accel_start_time_us;                           /**< Accel start time used to discard first samples */
+	uint64_t gyro_power_off_tmst;                           /**< Gyro power off time */
+};
+
+
+/* Interrupt enum state for INT1, INT2, and IBI */
+typedef enum {
+	INV_IMU_DISABLE = 0,
+	INV_IMU_ENABLE
+} inv_imu_interrupt_value;
+
+/** @brief Interrupt definition
+ */
+typedef struct {
+	inv_imu_interrupt_value INV_UI_FSYNC;
+	inv_imu_interrupt_value INV_UI_DRDY;
+	inv_imu_interrupt_value INV_FIFO_THS;
+	inv_imu_interrupt_value INV_FIFO_FULL;
+	inv_imu_interrupt_value INV_SMD;
+	inv_imu_interrupt_value INV_WOM_X;
+	inv_imu_interrupt_value INV_WOM_Y;
+	inv_imu_interrupt_value INV_WOM_Z;
+	inv_imu_interrupt_value INV_FF;
+	inv_imu_interrupt_value INV_LOWG;
+	inv_imu_interrupt_value INV_STEP_DET;
+	inv_imu_interrupt_value INV_STEP_CNT_OVFL;
+	inv_imu_interrupt_value INV_TILT_DET;
+} inv_imu_interrupt_parameter_t;
+
+
+/** @brief Configure the serial interface used to access the device and execute hardware initialization.
+ *
+ *  This functions first configures serial interface passed in parameter to make sure device 
+ *  is accessible both in read and write. Thus no serial access should be done before 
+ *  successfully executing the present function.
+ *
+ *  Then if requested serial interface is a primary interface (aka UI interface or AP 
+ *  interface), this function initializes the device using the following hardware settings:
+ *    - set timestamp resolution to 16us
+ *    - enable FIFO mechanism with the following configuration:
+ *        - FIFO record mode i.e FIFO count unit is packet 
+ *        - FIFO snapshot mode i.e drop the data when the FIFO overflows
+ *        - Timestamp is logged in FIFO
+ *        - Little Endian fifo_count and fifo_data
+ *        - generate FIFO threshold interrupt when packet count reaches FIFO watermark
+ *        - set FIFO watermark to 1 packet
+ *        - enable temperature and timestamp data to go to FIFO
+ *
+ *
+ *  @param[in] s driver structure. Note that first field of this structure MUST be a struct 
+ *  inv_imu_serif.
+ *
+ *  @param[in] serif pointer on serial interface structure to be used to access inv_device.
+ *
+ *  @param[in] sensor_event_cb callback executed by inv_imu_get_data_from_fifo function
+ *  each time it extracts some valid data from fifo. Or inv_imu_get_data_from_registers read data
+ *  from register. Thus this parameter is optional as long
+ *  as inv_imu_get_data_from_fifo/inv_imu_get_data_from_registers function is not used.
+ *
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_init(struct inv_imu_device *s, 
+                 struct inv_imu_serif *serif, 
+                 void (*sensor_event_cb)(inv_imu_sensor_event_t *event));
+
+/** @brief Perform a soft reset of the device
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_device_reset(struct inv_imu_device *s);
+
+/** @brief return WHOAMI value
+ *  @param[out] who_am_i WHOAMI for device
+ *  @return 0 on success, negative value on error
+ */
+int inv_imu_get_who_am_i(struct inv_imu_device *s, uint8_t *who_am_i);
+
+/** @brief Enable/put accel in low power mode
+ *  @return 0 on success, negative value on error.
+ *  @details
+ *  It enables accel and gyro data in the FIFO (so
+ *  the packet format is 16 bytes). If called first,
+ *  the configuration will be applied, otherwise it
+ *  will be ignored if the FIFO is not empty (but since
+ *  the new configuration is identical it is not a issue).
+ *  @warning inv_device::register_cache::pwr_mgmt0_reg is modified by this function
+ */
+int inv_imu_enable_accel_low_power_mode(struct inv_imu_device *s);
+
+/** @brief Enable/put accel in low noise mode
+ *  @return 0 on success, negative value on error.
+ *  @details
+ *  It enables accel and gyro data in the FIFO (so
+ *  the packet format is 16 bytes). If called first,
+ *  the configuration will be applied, otherwise it
+ *  will be ignored if the FIFO is not empty (but since
+ *  the new configuration is identical it is not a issue).
+ *  @warning inv_device::register_cache::pwr_mgmt0_reg is modified by this function
+ */
+int inv_imu_enable_accel_low_noise_mode(struct inv_imu_device *s);
+
+/** @brief Disable all 3 axes of accel
+ *  @return 0 on success, negative value on error.
+ *  @details
+ *  If both accel and gyro are turned off as a result of this
+ *  function, they will also be removed from the FIFO and a
+ *  FIFO reset will be performed (to guarantee no side effects
+ *  until the next enable sensor call)
+ *  @warning inv_device::register_cache::pwr_mgmt0_reg is modified by this function
+ */
+int inv_imu_disable_accel(struct inv_imu_device *s);
+
+/** @brief Enable/put gyro in low noise mode
+ *  @return 0 on success, negative value on error.
+ *  @details
+ *  It enables gyro and accel data in the FIFO (so
+ *  the packet format is 16 bytes). If called first,
+ *  the configuration will be applied, otherwise it
+ *  will be ignored if the FIFO is not empty (but since
+ *  the new configuration is identical it is not a issue).
+ *  @warning inv_device::register_cache::pwr_mgmt0_reg is modified by this function
+ */
+int inv_imu_enable_gyro_low_noise_mode(struct inv_imu_device *s);
+
+/** @brief Disable all 3 axes of gyro
+ *  @return 0 on success, negative value on error.
+ *  @details
+ *  If both accel and gyro are turned off as a result of this
+ *  function, they will also be removed from the FIFO and a
+ *  FIFO reset will be performed (to guarantee no side effects
+ *  until the next enable sensor call)
+ *  @warning inv_device::register_cache::pwr_mgmt0_reg is modified by this function
+ */
+int inv_imu_disable_gyro(struct inv_imu_device *s);
+
+/** @brief Enable fsync tagging functionality.
+ *  In details it:
+ *     - enables fsync
+ *     - enables timestamp to registers. Once fsync is enabled fsync counter is pushed to 
+ *       fifo instead of timestamp. So timestamp is made available in registers. Note that 
+ *       this increase power consumption.
+ *     - enables fsync related interrupt
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_enable_fsync(struct inv_imu_device *s);
+
+/** @brief Disable fsync tagging functionality.
+ *  In details it:
+ *     - disables fsync
+ *     - disables timestamp to registers. Once fsync is disabled  timestamp is pushed to fifo 
+ *        instead of fsync counter. So in order to decrease power consumption, timestamp is no 
+ *        more available in registers.
+ *     - disables fsync related interrupt
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_disable_fsync(struct inv_imu_device *s);
+
+/** @brief  Configure which interrupt source can trigger INT1.
+ *  @param[in] interrupt_to_configure structure with the corresponding state to manage INT1.
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_set_config_int1(struct inv_imu_device *s, 
+                            inv_imu_interrupt_parameter_t *interrupt_to_configure);
+
+/** @brief  Retrieve interrupts configuration.
+ *  @param[in] interrupt_to_configure structure with the corresponding state to manage INT1.
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_get_config_int1(struct inv_imu_device *s, 
+                            inv_imu_interrupt_parameter_t *interrupt_to_configure);
+
+/** @brief  Configure which interrupt source can trigger INT2.
+ *  @param[in] interrupt_to_configure structure with the corresponding state to INT2.
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_set_config_int2(struct inv_imu_device *s,
+                            inv_imu_interrupt_parameter_t *interrupt_to_configure);
+
+/** @brief  Retrieve interrupts configuration.
+ *  @param[in] interrupt_to_configure structure with the corresponding state to manage INT2.
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_get_config_int2(struct inv_imu_device *s, 
+                            inv_imu_interrupt_parameter_t *interrupt_to_configure);
+
+/** @brief Read all registers containing data (temperature, accelerometer and gyroscope). Then it calls 
+ *  sensor_event_cb function passed in parameter of inv_imu_init function for each packet 
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_get_data_from_registers(struct inv_imu_device *s);
+
+/** @brief Read all available packets from the FIFO. For each packet function builds a
+ *  sensor event containing packet data and validity information. Then it calls 
+ *  sensor_event_cb funtion passed in parameter of inv_imu_init function for each 
+ *  packet.
+ *  @return number of valid packets read on success, negative value on error.
+ */
+int inv_imu_get_data_from_fifo(struct inv_imu_device *s);
+
+/** @brief Converts ACCEL_CONFIG0_ODR_t or GYRO_CONFIG0_ODR_t enums to period expressed in us
+ *  @param[in] odr_bitfield An ACCEL_CONFIG0_ODR_t or GYRO_CONFIG0_ODR_t enum
+ *  @return The corresponding period expressed in us
+ */
+uint32_t inv_imu_convert_odr_bitfield_to_us(uint32_t odr_bitfield);
+
+/** @brief Configure accel Output Data Rate
+ *  @param[in] frequency The requested frequency.
+ *  @sa ACCEL_CONFIG0_ODR_t
+ *  @return 0 on success, negative value on error.
+ *  @warning inv_device::register_cache::accel_config0_reg is modified by this function
+ */
+int inv_imu_set_accel_frequency(struct inv_imu_device *s,
+                                const ACCEL_CONFIG0_ODR_t frequency);
+
+/** @brief Configure gyro Output Data Rate
+ *  @param[in] frequency The requested frequency.
+ *  @sa GYRO_CONFIG0_ODR_t
+ *  @return 0 on success, negative value on error.
+ *  @warning inv_device::register_cache::gyro_config0_reg is modified by this function
+ */
+int inv_imu_set_gyro_frequency(struct inv_imu_device *s, 
+                               const GYRO_CONFIG0_ODR_t frequency);
+
+/** @brief Set accel full scale range
+ *  @param[in] accel_fsr_g requested full scale range.
+ *  @sa ACCEL_CONFIG0_FS_SEL_t.
+ *  @return 0 on success, negative value on error.
+ *  @warning inv_device::register_cache::accel_config0_reg is modified by this function
+ */
+int inv_imu_set_accel_fsr(struct inv_imu_device *s, 
+                          ACCEL_CONFIG0_FS_SEL_t accel_fsr_g);
+
+/** @brief Access accel full scale range
+ *  @param[out] accel_fsr_g current full scale range.
+ *  @sa ACCEL_CONFIG0_FS_SEL_t.
+ *  @return 0 on success, negative value on error.
+ *  @warning inv_device::register_cache::accel_config0_reg is relied upon by this function
+ */
+int inv_imu_get_accel_fsr(struct inv_imu_device *s,
+                          ACCEL_CONFIG0_FS_SEL_t *accel_fsr_g);
+
+/** @brief Set gyro full scale range
+ *  @param[in] gyro_fsr_dps requested full scale range.
+ *  @sa GYRO_CONFIG0_FS_SEL_t.
+ *  @return 0 on success, negative value on error.
+ *  @warning inv_device::register_cache::gyro_config0_reg is modified by this function
+ */
+int inv_imu_set_gyro_fsr(struct inv_imu_device *s, 
+                         GYRO_CONFIG0_FS_SEL_t gyro_fsr_dps);
+
+/** @brief Access gyro full scale range
+ *  @param[out] gyro_fsr_dps current full scale range.
+ *  @sa GYRO_CONFIG0_FS_SEL_t.
+ *  @return 0 on success, negative value on error.
+ *  @warning inv_device::register_cache::gyro_config0_reg is relied upon by this function
+ */
+int inv_imu_get_gyro_fsr(struct inv_imu_device *s, 
+                         GYRO_CONFIG0_FS_SEL_t *gyro_fsr_dps);
+
+/** @brief Set accel Low-Power averaging value
+ *  @param[in] acc_avg requested averaging value
+ *  @sa ACCEL_CONFIG1_ACCEL_FILT_AVG_t
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_set_accel_lp_avg(struct inv_imu_device *s, 
+                             ACCEL_CONFIG1_ACCEL_FILT_AVG_t acc_avg);
+
+/** @brief Set accel Low-Noise bandwidth value
+ *  @param[in] acc_bw requested averaging value
+ *  @sa ACCEL_CONFIG1_ACCEL_FILT_BW_t
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_set_accel_ln_bw(struct inv_imu_device *s, 
+                            ACCEL_CONFIG1_ACCEL_FILT_BW_t acc_bw);
+
+/** @brief Set gyro Low-Noise bandwidth value
+ *  @param[in] gyr_bw requested averaging value
+ *  @sa GYRO_CONFIG1_GYRO_FILT_BW_t
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_set_gyro_ln_bw(struct inv_imu_device *s, 
+                           GYRO_CONFIG1_GYRO_FILT_BW_t gyr_bw);
+
+/** @brief Set timestamp resolution
+ *  @param[in] timestamp_resol requested timestamp resolution
+ *  @sa TMST_CONFIG1_RESOL_t
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_set_timestamp_resolution(struct inv_imu_device *s, 
+                                     const TMST_CONFIG1_RESOL_t timestamp_resol);
+
+/** @brief reset IMU fifo
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_reset_fifo(struct inv_imu_device *s);
+
+/** @brief Enable 20 bits raw acc and raw gyr data in fifo.
+ *  @return 0 on success, negative return code otherwise
+ */
+int inv_imu_enable_high_resolution_fifo(struct inv_imu_device *s);
+
+/** @brief Disable 20 bits raw acc and raw gyr data in fifo.
+ *  @return 0 on success, negative return code otherwise
+ */
+int inv_imu_disable_high_resolution_fifo(struct inv_imu_device *s);
+
+ /** @brief Configure Fifo 
+ *  @param[in] fifo_config Fifo configuration method : 
+ *  if FIFO is enabled, data are pushed to FIFO and FIFO THS interrupt is set
+ *  if FIFO is disabled, data are not pused to FIFO and DRDY interrupt is set
+ *  @sa INV_IMU_FIFO_CONFIG_t
+ */
+int inv_imu_configure_fifo(struct inv_imu_device *s, 
+                           INV_IMU_FIFO_CONFIG_t fifo_config);
+
+/** @brief Get FIFO timestamp resolution
+ *  @return the timestamp resolution in us as a q24 or 0 in case of error
+ */
+int32_t inv_imu_get_fifo_timestamp_resolution_us_q24(struct inv_imu_device *s);
+
+/** @brief Get register timestamp resolution
+ *  @return the timestamp resolution in us as a q24 or 0 in case of error
+ */
+uint32_t inv_imu_get_reg_timestamp_resolution_us_q24(struct inv_imu_device *s);
+
+/** @brief  Enable Wake On Motion.
+ *  @param[in] wom_x_th threshold value for the Wake on Motion Interrupt for X-axis accelerometer.
+ *  @param[in] wom_y_th threshold value for the Wake on Motion Interrupt for Y-axis accelerometer.
+ *  @param[in] wom_z_th threshold value for the Wake on Motion Interrupt for Z-axis accelerometer.
+ *  @param[in] wom_int select which mode between AND/OR is used to generate interrupt.
+ *  @param[in] wom_dur select the number of overthreshold event to wait before generating interrupt.
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_configure_wom(struct inv_imu_device *s,
+                          const uint8_t wom_x_th,
+                          const uint8_t wom_y_th,
+                          const uint8_t wom_z_th,
+                          WOM_CONFIG_WOM_INT_MODE_t wom_int,
+                          WOM_CONFIG_WOM_INT_DUR_t wom_dur);
+
+/** @brief  Enable Wake On Motion.
+ *  note : WoM requests to have the accelerometer enabled to work. 
+ *  As a consequence Fifo water-mark interrupt is disabled to only trigger WoM interrupts.
+ *  To have good performance, it's recommended to set accelerometer ODR (Output Data Rate) to 20ms
+ *  and the accelerometer in Low Power Mode.
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_enable_wom(struct inv_imu_device *s);
+
+/** @brief  Disable Wake On Motion.
+ *  note : Fifo water-mark interrupt is re-enabled when WoM is disabled.
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_disable_wom(struct inv_imu_device *s);
+
+/** @brief Start DMP for APEX algorithms and selftest
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_start_dmp(struct inv_imu_device *s);
+
+/** @brief Reset DMP for APEX algorithms and selftest
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_reset_dmp(struct inv_imu_device *s, 
+                      const APEX_CONFIG0_DMP_MEM_RESET_t sram_reset);
+
+/** @breif Set the UI endianness and set the inv_device endianness field
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_set_endianness(struct inv_imu_device *s, 
+                           INTF_CONFIG0_DATA_ENDIAN_t endianness);
+
+/** @breif Read the UI endianness and set the inv_device endianness field
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_get_endianness(struct inv_imu_device *s);
+
+ /** @brief Configure Fifo decimation
+ *  @param[in] requested decimation factor value from 2 to 256
+ *  @return 0 on success, negative value on error.
+ */
+int inv_imu_configure_fifo_data_rate(struct inv_imu_device *s, 
+                                     FDR_CONFIG_FDR_SEL_t dec_factor);
+
+/** @brief Return driver version x.y.z-suffix as a char array
+ *  @retval driver version a char array "x.y.z-suffix"
+ */
+const char * inv_imu_get_version(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _INV_IMU_DRIVER_H_ */
+
+/** @} */

project/ble_peripheral/ble_app_bladder_patch/measurement/imu/Invn/imu/inv_imu_extfunc.h

@@ -0,0 +1,64 @@
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2017 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively "Software") is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+/** @defgroup DriverExt IMU driver extern functions
+ *  @brief    Extern functions for IMU devices
+ *  @ingroup  Driver
+ *  @{
+ */
+
+/** @file  inv_imu_extfunc.h
+ * Extern functions for IMU devices
+ */
+
+#ifndef _INV_IMU_EXTFUNC_H_
+#define _INV_IMU_EXTFUNC_H_
+
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/** @brief Hook for low-level high res system sleep() function to be implemented by upper layer
+ *  ~100us resolution is sufficient
+ *  @param[in] us number of us the calling thread should sleep
+ */
+extern void inv_imu_sleep_us(uint32_t us);
+
+/** @brief Hook for low-level high res system get_time() function to be implemented by upper layer
+ *  Value shall be on 64bit with a 1 us resolution
+ *  @return The current time in us
+ */
+extern uint64_t inv_imu_get_time_us(void);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _INV_IMU_EXTFUNC_H_ */
+
+/** @} */

project/ble_peripheral/ble_app_bladder_patch/measurement/imu/Invn/imu/inv_imu_selftest.c

@@ -0,0 +1,179 @@
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively "Software") is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+#include "inv_imu_selftest.h"
+#include "inv_imu_extfunc.h"
+#include "inv_imu_transport.h"
+
+static int configure_selftest_parameters(struct inv_imu_device *s, 
+                                         const inv_imu_selftest_parameters_t st_params);
+
+int inv_imu_run_selftest(struct inv_imu_device *s, 
+                         const inv_imu_selftest_parameters_t st_params,
+                         inv_imu_selftest_output_t *st_output)
+{
+	int status = 0;
+	uint8_t value;
+	uint8_t data[2] = {0};
+	uint8_t st_done = 0;
+	int polling_timeout_ms = 1000;
+
+	/* Disables Gyro/Accel sensors */	
+	status |= inv_imu_read_reg(s, PWR_MGMT0, 1, &value);
+	value &= ~(PWR_MGMT0_ACCEL_MODE_MASK | PWR_MGMT0_GYRO_MODE_MASK);
+	status |= inv_imu_write_reg(s, PWR_MGMT0, 1, &value);
+
+	/* Enable RC oscillator */
+	status |= inv_imu_switch_on_mclk(s);
+
+	/* Clear DMP SRAM (1 ms wait included in `inv_imu_reset_dmp()`) */
+	status |= inv_imu_reset_dmp(s, APEX_CONFIG0_DMP_MEM_RESET_APEX_ST_EN);
+	/* Update `dmp_is_on` since APEX features will have to restart from scratch */
+	s->dmp_is_on = 0;
+
+	/* Load self-test data */
+	status |= inv_imu_load_selftest_data(s);
+
+	/* Set self-test parameters */
+	status |= configure_selftest_parameters(s, st_params);
+
+	/* 
+	 * Enable accel and/or gyro self-test.
+	 * If both accel and gyro self-test are enabled, 
+	 * they should be set simultaneously in the same write access 
+	 */
+	status |= inv_imu_read_reg(s, SELFTEST_MREG1, 1, &value);
+	value &= ~SELFTEST_EN;
+	value |= (uint8_t)st_params.st_control; 
+	status |= inv_imu_write_reg(s, SELFTEST_MREG1, 1, &value);
+
+	/* Poll int_status_st_done bit */
+	do {
+		inv_imu_sleep_us(1000);
+		status |= inv_imu_read_reg(s, INT_STATUS, 1, &st_done);
+		st_done &= INT_STATUS_ST_INT_MASK;
+		
+		if (0 == --polling_timeout_ms)
+			return (status | -1); /* Return error if timeout is reached */
+			
+	} while (   !st_done /* Exit if ST_DONE */
+	         && !status  /* Or if error is detected */);
+
+	/* Read self-test results */
+	status |= inv_imu_read_reg(s, ST_STATUS1_MREG1, 2, &data[0]);
+	st_output->accel_status = (data[0] & ST_STATUS1_ACCEL_ST_PASS_MASK) >> ST_STATUS1_ACCEL_ST_PASS_POS;
+	st_output->ax_status = (data[0] & ST_STATUS1_AX_ST_PASS_MASK) >> ST_STATUS1_AX_ST_PASS_POS;
+	st_output->ay_status = (data[0] & ST_STATUS1_AY_ST_PASS_MASK) >> ST_STATUS1_AY_ST_PASS_POS;
+	st_output->az_status = (data[0] & ST_STATUS1_AZ_ST_PASS_MASK) >> ST_STATUS1_AZ_ST_PASS_POS;
+	st_output->gyro_status = (data[1] & ST_STATUS2_GYRO_ST_PASS_MASK) >> ST_STATUS2_GYRO_ST_PASS_POS;
+	st_output->gyro_status |= ((data[1] & ST_STATUS2_ST_INCOMPLETE_MASK) >> ST_STATUS2_ST_INCOMPLETE_POS) << 1;
+	st_output->gx_status = (data[1] & ST_STATUS2_GX_ST_PASS_MASK) >> ST_STATUS2_GX_ST_PASS_POS;
+	st_output->gy_status = (data[1] & ST_STATUS2_GY_ST_PASS_MASK) >> ST_STATUS2_GY_ST_PASS_POS;
+	st_output->gz_status = (data[1] & ST_STATUS2_GZ_ST_PASS_MASK) >> ST_STATUS2_GZ_ST_PASS_POS;
+	
+	/* Disable self-test */
+	status |= inv_imu_read_reg(s, SELFTEST_MREG1, 1, &value);
+	value &= ~SELFTEST_EN;
+	value |= (uint8_t)SELFTEST_DIS;
+	status |= inv_imu_write_reg(s, SELFTEST_MREG1, 1, &value);
+
+	/* Reset FIFO because ST data may have been pushed to it */
+	status |= inv_imu_reset_fifo(s);
+
+	/* Restore idle bit */
+	status |= inv_imu_switch_off_mclk(s);
+
+	return status;
+}
+
+int inv_imu_init_selftest_parameters_struct(struct inv_imu_device *s,
+                                            inv_imu_selftest_parameters_t *st_params)
+{
+	(void)s;
+	st_params->st_num_samples = ST_CONFIG_16_SAMPLES;
+	st_params->st_control     = (SELFTEST_ACCEL_GYRO_ST_EN_t)SELFTEST_EN;
+	return 0;
+}
+
+int inv_imu_load_selftest_data(struct inv_imu_device *s)
+{
+	int status = 0;
+	uint8_t value;
+
+	/* Enable RC oscillator */
+	status |= inv_imu_switch_on_mclk(s);
+
+	/* Set up OTP controller to reload factory-trimmed self-test response into SRAM */
+	status |= inv_imu_read_reg(s, OTP_CONFIG_MREG1, 1, &value);
+	value &= ~OTP_CONFIG_OTP_COPY_MODE_MASK;
+	value |= (uint8_t)OTP_CONFIG_OTP_COPY_ST_DATA;
+	status |= inv_imu_write_reg(s, OTP_CONFIG_MREG1, 1, &value);
+
+	/* Take the OTP macro out of power-down mode */
+	status |= inv_imu_read_reg(s, OTP_CTRL7_MREG2, 1, &value);
+	value &= ~OTP_CTRL7_OTP_PWR_DOWN_MASK;
+	value |= (uint8_t)OTP_CTRL7_PWR_DOWN_DIS;
+	status |= inv_imu_write_reg(s, OTP_CTRL7_MREG2, 1, &value);
+	
+	/* Wait for voltage generator to power on */
+	inv_imu_sleep_us(100);
+
+	/* Host should disable INT function first before kicking off OTP copy operation */
+
+	/* Trigger OTP to reload data (this time in self-test mode) */
+	status |= inv_imu_read_reg(s, OTP_CTRL7_MREG2, 1, &value);
+	value &= ~OTP_CTRL7_OTP_RELOAD_MASK;
+	value |= (uint8_t)OTP_CTRL7_OTP_RELOAD_EN;
+	status |= inv_imu_write_reg(s, OTP_CTRL7_MREG2, 1, &value);
+
+	/* Wait for OTP reload */
+	inv_imu_sleep_us(20);
+
+	/* Disable RC oscillator */
+	status |= inv_imu_switch_off_mclk(s);
+
+	return status;
+}
+
+static int configure_selftest_parameters(struct inv_imu_device *s, 
+                                         const inv_imu_selftest_parameters_t st_params)
+{
+	int status = 0;
+	uint8_t value;
+
+	/* Self-test configuration cannot be updated if it already running */
+	status |= inv_imu_read_reg(s, SELFTEST_MREG1, 1, &value);
+	if ((value & SELFTEST_EN) != SELFTEST_DIS)
+		return INV_ERROR_UNEXPECTED;
+
+	status |= inv_imu_read_reg(s, ST_CONFIG_MREG1, 1, &value);
+	value &= ~((uint8_t)ST_CONFIG_ST_NUMBER_SAMPLE_MASK 
+	         | (uint8_t)ST_CONFIG_ACCEL_ST_LIM_MASK 
+	         | (uint8_t)ST_CONFIG_GYRO_ST_LIM_MASK);
+	value |=  (uint8_t)st_params.st_num_samples 
+	        | (uint8_t)ST_CONFIG_ACCEL_ST_LIM_50 
+	        | (uint8_t)ST_CONFIG_GYRO_ST_LIM_50;
+	status |= inv_imu_write_reg(s, ST_CONFIG_MREG1, 1, &value);
+	
+	return status;
+}

project/ble_peripheral/ble_app_bladder_patch/measurement/imu/Invn/imu/inv_imu_selftest.h

@@ -0,0 +1,101 @@
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively "Software") is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+/** @defgroup DriverST SelfTest IMU selftest
+ *  @brief Low-level function to run selftest on a IMU device
+ *  @ingroup  Driver
+ *  @{
+ */
+
+/** @file inv_imu_selftest.h
+ * Low-level function to run selftest on a IMU device
+ */
+
+#ifndef _INV_IMU_SELFTEST_H_
+#define _INV_IMU_SELFTEST_H_
+
+#include <stdint.h>
+
+#include "InvExport.h"
+#include "inv_imu_defs.h"
+#include "inv_imu_driver.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* forward declaration */
+struct inv_imu_device;
+
+
+/** @brief Self-test input parameters
+ */
+typedef struct {
+	ST_CONFIG_NUM_SAMPLES_t st_num_samples; /**< Number of samples used to perform self-test */
+	SELFTEST_ACCEL_GYRO_ST_EN_t st_control; /**< Define which sensor is under self-test */
+} inv_imu_selftest_parameters_t;
+
+/** @brief Self-test routine outputs
+ */
+typedef struct {
+	int8_t accel_status;    /**< global accelerometer self-test passed */
+	int8_t gyro_status;     /**< global gyroscope self-test status: st_pass (bit0), st_incomplete (bit1) */
+	int8_t ax_status;       /**< AX self-test status */
+	int8_t ay_status;       /**< AY self-test status */
+	int8_t az_status;       /**< AZ self-test status */
+	int8_t gx_status;       /**< GX self-test status */
+	int8_t gy_status;       /**< GY self-test status */
+	int8_t gz_status;       /**< GZ self-test status */
+} inv_imu_selftest_output_t;
+
+
+/**
+*  @brief      Perform hardware self-test for Accel and Gyro
+*  @param[in]  Self-test parameters (see inv_imu_selftest_parameters_t)
+*  @param[out] Self-test results (see inv_imu_selftest_output_t)
+*  @return     0 on completion, negative number if intermediate errors occurred
+*/
+int inv_imu_run_selftest(struct inv_imu_device *s, 
+                         const inv_imu_selftest_parameters_t st_params,
+                         inv_imu_selftest_output_t *st_output);
+
+/** @brief Fill the self-test configuration structure with default configuration
+ *  @param[in] selftest_params self-test parameters to be initialized
+ *  @return 0 on success, negative return code otherwise
+ */
+int inv_imu_init_selftest_parameters_struct(struct inv_imu_device *s, 
+                                            inv_imu_selftest_parameters_t *selftest_params);
+
+/** @brief Load self-test data
+ *  @return 0 on success, negative return code otherwise
+ */
+int inv_imu_load_selftest_data(struct inv_imu_device *s);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _INV_IMU_SELFTEST_H_ */
+
+/** @} */

project/ble_peripheral/ble_app_bladder_patch/measurement/imu/Invn/imu/inv_imu_transport.c

@@ -0,0 +1,257 @@
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively "Software") is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+#include "inv_imu_extfunc.h"
+#include "inv_imu_transport.h"
+#include "inv_imu_regmap.h"
+
+#include "InvError.h"
+
+
+/* Function definition */
+static uint8_t *get_register_cache_addr(struct inv_imu_device *s, uint32_t reg);
+static int write_sreg(struct inv_imu_device *s, uint8_t reg, uint32_t len, const uint8_t *buf);
+static int read_sreg(struct inv_imu_device *s, uint8_t reg, uint32_t len, uint8_t *buf);
+static int write_mclk_reg(struct inv_imu_device *s, uint16_t regaddr, uint8_t wr_cnt, const uint8_t *buf);
+static int read_mclk_reg(struct inv_imu_device *s, uint16_t regaddr, uint8_t rd_cnt, uint8_t *buf);
+
+
+int inv_imu_init_transport(struct inv_imu_device *s)
+{
+	int status = 0;
+	struct inv_imu_transport *t = (struct inv_imu_transport *)s;
+
+	status |= read_sreg(s, (uint8_t)PWR_MGMT0,     1, &(t->register_cache.pwr_mgmt0_reg));
+	status |= read_sreg(s, (uint8_t)GYRO_CONFIG0,  1, &(t->register_cache.gyro_config0_reg));
+	status |= read_sreg(s, (uint8_t)ACCEL_CONFIG0, 1, &(t->register_cache.accel_config0_reg));
+	
+	status |= read_mclk_reg(s, (TMST_CONFIG1_MREG1 & 0xFFFF), 1, &(t->register_cache.tmst_config1_reg));
+
+	t->need_mclk_cnt = 0;
+
+	return status;
+}
+
+int inv_imu_read_reg(struct inv_imu_device *s, uint32_t reg, uint32_t len, uint8_t *buf)
+{
+	uint32_t i;
+	int rc = 0;
+	
+	for (i = 0; i < len; i++) {
+		uint8_t *cache_addr  = get_register_cache_addr(s, reg + i);
+
+		if (cache_addr) {
+			buf[i] = *cache_addr;
+		} else {
+			if (!(reg & 0x10000)) {
+				rc |= read_mclk_reg(s, ((reg + i) & 0xFFFF), 1, &buf[i]);
+			} else {
+				rc |= read_sreg(s, (uint8_t)reg + i, len - i, &buf[i]);
+				break;
+			}
+		}
+	}
+
+	return rc;
+}
+
+int inv_imu_write_reg(struct inv_imu_device *s, uint32_t reg, uint32_t len, const uint8_t *buf)
+{
+	uint32_t i;
+	int rc = 0;
+	
+	for (i = 0; i < len; i++) {
+		uint8_t *cache_addr  = get_register_cache_addr(s, reg + i);
+
+		if (cache_addr)
+			*cache_addr = buf[i];
+
+		if (!(reg & 0x10000))
+			rc |= write_mclk_reg(s, ((reg + i) & 0xFFFF), 1, &buf[i]);
+	}
+
+	if (reg & 0x10000)
+		rc |= write_sreg(s, (uint8_t)reg, len, buf);
+
+	return rc;
+}
+
+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;
+
+	/* set IDLE bit only if it is not set yet */
+	if (t->need_mclk_cnt == 0) {
+
+		status |= inv_imu_read_reg(s, PWR_MGMT0, 1, &data);
+		data |= PWR_MGMT0_IDLE_MASK; 
+		status |= inv_imu_write_reg(s, PWR_MGMT0, 1, &data);
+		
+		if (status)
+			return status;
+
+		/* Check if MCLK is ready */
+		do {
+			status = inv_imu_read_reg(s, MCLK_RDY, 1, &data); 
+		} while ((status != 0) || !(data & MCLK_RDY_MCLK_RDY_MASK));
+	} else {
+
+		/* Make sure it is already on */
+		status |= inv_imu_read_reg(s, PWR_MGMT0, 1, &data);
+		if (0 == (data &= PWR_MGMT0_IDLE_MASK))
+			status |= INV_ERROR;
+	}
+
+	/* Increment the counter to keep track of number of MCLK requesters */
+	t->need_mclk_cnt++;
+	
+	return status;
+}
+
+int inv_imu_switch_off_mclk(struct inv_imu_device *s)
+{
+	int status = 0;
+	uint8_t data;
+	struct inv_imu_transport *t = (struct inv_imu_transport *)s;
+
+	/* Reset the IDLE but only if there is one requester left */
+	if (t->need_mclk_cnt == 1) {
+		status |= inv_imu_read_reg(s, PWR_MGMT0, 1, &data);
+		data &= ~PWR_MGMT0_IDLE_MASK;
+		status |= inv_imu_write_reg(s, PWR_MGMT0, 1, &data);
+	} else {
+		/* Make sure it is still on */
+		status |= inv_imu_read_reg(s, PWR_MGMT0, 1, &data);
+		if (0 == (data &= PWR_MGMT0_IDLE_MASK))
+			status |= INV_ERROR;
+	}
+
+	/* Decrement the counter */
+	t->need_mclk_cnt--;
+	
+	return status;
+}
+
+
+/* Static function */
+
+static uint8_t *get_register_cache_addr(struct inv_imu_device *s, uint32_t reg)
+{
+	struct inv_imu_transport *t = (struct inv_imu_transport *)s;
+
+	switch(reg) {
+	case PWR_MGMT0:          return &(t->register_cache.pwr_mgmt0_reg);
+	case GYRO_CONFIG0:       return &(t->register_cache.gyro_config0_reg);
+	case ACCEL_CONFIG0:      return &(t->register_cache.accel_config0_reg);
+	case TMST_CONFIG1_MREG1: return &(t->register_cache.tmst_config1_reg);
+	default:                 return (uint8_t *)0; // Not found
+	}
+}
+
+static int read_sreg(struct inv_imu_device *s, uint8_t reg, uint32_t len, uint8_t *buf)
+{
+	struct inv_imu_serif *serif = (struct inv_imu_serif *)s;
+	
+	if (len > serif->max_read)
+		return INV_ERROR_SIZE;
+
+	if (serif->read_reg(serif, reg, buf, len) != 0)
+		return INV_ERROR_TRANSPORT;
+
+	return 0;
+}
+
+static int write_sreg(struct inv_imu_device *s, uint8_t reg, uint32_t len, const uint8_t *buf)
+{
+	struct inv_imu_serif *serif = (struct inv_imu_serif *)s;
+
+	if (len > serif->max_write)
+		return INV_ERROR_SIZE;
+
+	if (serif->write_reg(serif, reg, buf, len) != 0)
+			return INV_ERROR_TRANSPORT;
+
+	return 0;
+}
+
+static int read_mclk_reg(struct inv_imu_device *s, uint16_t regaddr, uint8_t rd_cnt, uint8_t *buf)
+{
+	uint8_t data;
+	uint8_t blk_sel = (regaddr & 0xFF00) >> 8;
+	int status = 0;
+
+	// Have IMU not in IDLE mode to access MCLK domain
+	status |= inv_imu_switch_on_mclk(s);
+
+	// optimize by changing BLK_SEL only if not NULL
+	if (blk_sel)
+		status |= write_sreg(s, (uint8_t)BLK_SEL_R & 0xff, 1, &blk_sel);
+
+	data = (regaddr & 0x00FF);
+	status |= write_sreg(s, (uint8_t)MADDR_R, 1, &data);
+	inv_imu_sleep_us(10);
+	status |= read_sreg(s, (uint8_t)M_R, rd_cnt, buf);
+	inv_imu_sleep_us(10);
+	
+	if (blk_sel) {
+		data = 0;
+		status |= write_sreg(s, (uint8_t)BLK_SEL_R, 1, &data);
+	}
+
+	// switch OFF MCLK if needed
+	status |= inv_imu_switch_off_mclk(s);
+
+	return status;
+}
+
+static int write_mclk_reg(struct inv_imu_device *s, uint16_t regaddr, uint8_t wr_cnt, const uint8_t *buf)
+{
+	uint8_t data;
+	uint8_t blk_sel = (regaddr & 0xFF00) >> 8;
+	int status = 0;
+
+	// Have IMU not in IDLE mode to access MCLK domain
+	status |= inv_imu_switch_on_mclk(s);
+
+	// optimize by changing BLK_SEL only if not NULL
+	if (blk_sel)
+		status |= write_sreg(s, (uint8_t)BLK_SEL_W, 1, &blk_sel);
+	
+	data = (regaddr & 0x00FF);
+	status |= write_sreg(s, (uint8_t)MADDR_W, 1, &data);
+	for (uint8_t i = 0; i < wr_cnt; i++) {
+		status |= write_sreg(s, (uint8_t)M_W, 1, &buf[i]);
+		inv_imu_sleep_us(10);
+	}
+	
+	if (blk_sel) {
+		data = 0;
+		status = write_sreg(s, (uint8_t)BLK_SEL_W, 1, &data);
+	}
+
+	status |= inv_imu_switch_off_mclk(s);
+
+	return status;
+}

project/ble_peripheral/ble_app_bladder_patch/measurement/imu/Invn/imu/inv_imu_transport.h

@@ -0,0 +1,122 @@
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2015-2015 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively "Software") is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+/** @defgroup  Transport IMU transport
+ *  @brief    Low-level IMU SCLK register access
+ *  @ingroup  Driver
+ *  @{
+ */
+
+/** @file  inv_imu_transport.h
+ * Low-level IMU SCLK register access
+ */
+
+#ifndef _INV_IMU_TRANSPORT_H_
+#define _INV_IMU_TRANSPORT_H_
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+
+/* forward declaration */
+struct inv_imu_device;
+
+
+/** @brief enumeration  of serial interfaces available on IMU */
+typedef enum
+{
+	UI_I2C,
+	UI_SPI4,
+	UI_SPI3
+} SERIAL_IF_TYPE_t;
+ 
+/** @brief basesensor serial interface
+ */
+struct inv_imu_serif {
+	void *context;
+	int (*read_reg)(struct inv_imu_serif *serif, uint8_t reg, uint8_t *buf, uint32_t len);
+	int (*write_reg)(struct inv_imu_serif *serif, uint8_t reg, const uint8_t *buf, uint32_t len);
+	int (*configure)(struct inv_imu_serif *serif);
+	uint32_t max_read;
+	uint32_t max_write;
+	SERIAL_IF_TYPE_t serif_type;
+};
+
+/** @brief transport interface
+ */
+struct inv_imu_transport {
+	struct inv_imu_serif serif; /**< Warning : this field MUST be the first one of struct inv_imu_transport */
+
+	/** @brief Contains mirrored values of some IP registers */
+	struct register_cache {
+		uint8_t pwr_mgmt0_reg;     /**< PWR_MGMT0, Bank: 0 */
+		uint8_t gyro_config0_reg;  /**< GYRO_CONFIG0, Bank: 0 */
+		uint8_t accel_config0_reg; /**< ACCEL_CONFIG0, Bank: 0 */
+		uint8_t tmst_config1_reg;  /**< TMST_CONFIG1, Bank: MREG_TOP1 */
+	} register_cache; /**< Store mostly used register values on SRAM */
+
+	uint8_t need_mclk_cnt; /**< internal counter to keep track of everyone that needs MCLK */
+
+};
+
+/** @brief Init cache variable.
+ * @return            0 in case of success, -1 for any error
+ */
+int inv_imu_init_transport(struct inv_imu_device *s);
+
+/** @brief Reads data from a register on IMU.
+ * @param[in] reg    register address to be read
+ * @param[in] len    number of byte to be read
+ * @param[out] buf   output data from the register
+ * @return            0 in case of success, -1 for any error
+ */
+int inv_imu_read_reg(struct inv_imu_device *s, uint32_t reg, uint32_t len, uint8_t *buf);
+
+/** @brief Writes data to a register on IMU.
+ * @param[in] reg    register address to be written
+ * @param[in] len    number of byte to be written
+ * @param[in] buf    input data to write
+ * @return            0 in case of success, -1 for any error
+ */
+int inv_imu_write_reg(struct inv_imu_device *s, uint32_t reg, uint32_t len, const uint8_t *buf);
+
+/** @brief Enable MCLK so that MREG are clocked and system beyond SOI can be safely accessed
+ * @return            0 in case of success, -1 for any error
+ */
+int inv_imu_switch_on_mclk(struct inv_imu_device *s);
+
+/** @brief Disable MCLK so that MREG are not clocked anymore, hence reducing power consumption
+ * @return            0 in case of success, -1 for any error
+ */
+int inv_imu_switch_off_mclk(struct inv_imu_device *s);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _INV_IMU_TRANSPORT_H_ */
+
+/** @} */

project/ble_peripheral/ble_app_bladder_patch/measurement/imu/Invn/imu/inv_imu_version.h

@@ -0,0 +1,37 @@
+/*
+ * ________________________________________________________________________________________________________
+ * Copyright (c) 2019 InvenSense Inc. All rights reserved.
+ *
+ * This software, related documentation and any modifications thereto (collectively “Software”) is subject
+ * to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+ * and other intellectual property rights laws.
+ *
+ * InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+ * and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+ * from InvenSense is strictly prohibited.
+ *
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, THE SOFTWARE IS
+ * PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED
+ * TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.
+ * EXCEPT AS OTHERWISE PROVIDED IN A LICENSE AGREEMENT BETWEEN THE PARTIES, IN NO EVENT SHALL
+ * INVENSENSE BE LIABLE FOR ANY DIRECT, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, OR ANY
+ * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT,
+ * NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE
+ * OF THE SOFTWARE.
+ * ________________________________________________________________________________________________________
+ */
+
+#ifndef _INV_IMU_VERSION_H_
+#define _INV_IMU_VERSION_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define INV_IMU_VERSION_STRING "2.0.4"
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _INV_IMU_VERSION_H_ */

project/ble_peripheral/ble_app_bladder_patch/measurement/imu/Invn/lib_agm/invn/common/invn_types.h

@@ -0,0 +1,153 @@
+//----------------------------------------------------------------------------- 
+/*
+    Copyright © 2014-2015 InvenSense Inc. Portions Copyright © 2014-2015 Movea. All rights reserved.
+
+    This software, related documentation and any modifications thereto (collectively “Software”) is subject
+    to InvenSense and its licensors' intellectual property rights under U.S. and international copyright
+    and other intellectual property rights laws.
+
+    InvenSense and its licensors retain all intellectual property and proprietary rights in and to the Software
+    and any use, reproduction, disclosure or distribution of the Software without an express license agreement
+    from InvenSense is strictly prohibited.
+*/
+//-----------------------------------------------------------------------------
+
+#ifndef INVN_COMMON_INVN_TYPES_H_
+#define INVN_COMMON_INVN_TYPES_H_
+
+/**
+ *  @defgroup invn_types Types
+ *  @brief  Motion Library - Type definitions.
+ *  \details Definition of codes and error codes used within the MPL and
+ *          returned to the user.
+ *          Every function tries to return a meaningful error code basing
+ *          on the occuring error condition. The error code is numeric.
+ *
+ *          The available error codes and their associated values are:
+ *          - (0)               INV_SUCCESS
+ *          - (32)              INV_ERROR
+ *          - (22 / EINVAL)     INV_ERROR_INVALID_PARAMETER
+ *          - (1  / EPERM)      INV_ERROR_FEATURE_NOT_ENABLED
+ *          - (36)              INV_ERROR_FEATURE_NOT_IMPLEMENTED
+ *          - (64)              INV_ERROR_FIFO_READ_COUNT
+ * \todo Clean up the details documentation in order to use only the \\def one.
+ * \todo Add documentation to all the definitions
+ * \ingroup Common
+ * @file invn_types.h
+ */
+
+//=======================================//
+//========= Integer Definition  =========//
+//=======================================// 
+#ifdef _MSC_VER
+#  include "inttypes.h"
+#else
+#  include <stdint.h>
+#endif
+
+//=======================================//
+//======= Fixed Point Conversion  =======//
+//=======================================// 
+
+//! \def INVN_FLT_TO_FXP
+//! Convert the \a value from float to QN value. \ingroup invn_macro 
+#define INVN_FLT_TO_FXP(value, shift)	( (int32_t)  ((float)(value)*(1ULL << (shift)) + ( (value>=0)-0.5f )) ) 
+//! \def INVN_DBL_TO_FXP
+//! Convert the \a value from double to QN value. \ingroup invn_macro 
+#define INVN_DBL_TO_FXP(value, shift)	( (int32_t)  ((double)(value)*(1ULL << (shift)) + ( (value>=0)-0.5 )) ) 
+//! \def INVN_FLT_TO_UFXP
+//! Convert the \a value from float to unsigned QN value. \ingroup invn_macro 
+#define INVN_FLT_TO_UFXP(value, shift)	( (uint32_t) ((float)(value)*(1ULL << (shift)) + 0.5f) ) 
+//! \def INVN_DBL_TO_UFXP
+//! Convert the \a value from double to unsigned QN value. \ingroup invn_macro 
+#define INVN_DBL_TO_UFXP(value, shift)	( (uint32_t) ((double)(value)*(1ULL << (shift)) + 0.5) ) 
+//! \def INVN_FXP_TO_FLT
+//! Convert the \a value from QN value to float. \ingroup invn_macro 
+#define INVN_FXP_TO_FLT(value, shift)	( (float)  (int32_t)(value) / (float)(1ULL << (shift)) ) 
+//! \def INVN_FXP_TO_DBL
+//! Convert the \a value from QN value to double. \ingroup invn_macro 
+#define INVN_FXP_TO_DBL(value, shift)	( (double)  (int32_t)(value) / (double)(1ULL << (shift)) ) 
+//! \def INVN_UFXP_TO_FLT
+//! Convert the \a value from unsigned QN value to float. \ingroup invn_macro
+#define INVN_UFXP_TO_FLT(value, shift)	( (float) (uint32_t)(value) / (float)(1ULL << (shift)) ) 
+//! \def INVN_UFXP_TO_DBL
+//! Convert the \a value from unsigned QN value to double. \ingroup invn_macro 
+#define INVN_UFXP_TO_DBL(value, shift)	( (double) (uint32_t)(value) / (double)(1ULL << (shift)) ) 
+//! \def INVN_CONVERT_FLT_TO_FXP
+//!	Macro to convert float values from an address into QN values, and copy them to another address. \ingroup invn_macro
+#define INVN_CONVERT_FLT_TO_FXP(fltptr, fixptr, length, shift)	{ int32_t i; for(i=0; i<(length); ++i) (fixptr)[i] = INVN_FLT_TO_FXP((fltptr)[i], shift); }
+//! \def INVN_CONVERT_FLT_TO_UFXP
+//!	Macro to convert float values from an address into unsigned QN values, and copy them to another address. \ingroup invn_macro
+#define INVN_CONVERT_FLT_TO_UFXP(fltptr, fixptr, length, shift)	{ int32_t i; for(i=0; i<(length); ++i) (fixptr)[i] = INVN_FLT_TO_UFXP((fltptr)[i], shift); }
+//! \def INVN_CONVERT_DBL_TO_FXP
+//!	Macro to convert double values from an address into QN  values, and copy them to another address. \ingroup invn_macro
+#define INVN_CONVERT_DBL_TO_FXP(fltptr, fixptr, length, shift)	{ int32_t i; for(i=0; i<(length); ++i) (fixptr)[i] = INVN_DBL_TO_FXP((fltptr)[i], shift); }
+//! \def INVN_CONVERT_DBL_TO_UFXP
+//!	Macro to convert double values from an address into unsigned QN values, and copy them to another address. \ingroup invn_macro
+#define INVN_CONVERT_DBL_TO_UFXP(fltptr, fixptr, length, shift)	{ int32_t i; for(i=0; i<(length); ++i) (fixptr)[i] = INVN_DBL_TO_UFXP((fltptr)[i], shift); }
+//! \def INVN_CONVERT_FXP_TO_FLT
+//!	Macro to convert QN values from an address into float values, and copy them to another address. \ingroup invn_macro
+#define INVN_CONVERT_FXP_TO_FLT(fixptr, fltptr, length, shift)	{ int32_t i; for(i=0; i<(length); ++i) (fltptr)[i] = INVN_FXP_TO_FLT((fixptr)[i], shift); }
+//! \def INVN_CONVERT_UFXP_TO_FLT
+//!	Macro to convert unsigned QN values from an address into float values, and copy them to another address. \ingroup invn_macro
+#define INVN_CONVERT_UFXP_TO_FLT(fixptr, fltptr, length, shift)	{ int32_t i; for(i=0; i<(length); ++i) (fltptr)[i] = INVN_UFXP_TO_FLT((fixptr)[i], shift); }
+//! \def INVN_CONVERT_FXP_TO_DBL
+//!	Macro to convert QN values from an address into double values, and copy them to another address. \ingroup invn_macro
+#define INVN_CONVERT_FXP_TO_DBL(fixptr, fltptr, length, shift)	{ int32_t i; for(i=0; i<(length); ++i) (fltptr)[i] = INVN_FXP_TO_DBL((fixptr)[i], shift); }
+//! \def INVN_CONVERT_UFXP_TO_DBL 
+//! \brief Macro to convert unsigned QN values from an address into double values, and copy them to another address. \ingroup invn_macro
+#define INVN_CONVERT_UFXP_TO_DBL(fixptr, fltptr, length, shift)	{ int32_t i; for(i=0; i<(length); ++i) (fltptr)[i] = INVN_UFXP_TO_DBL((fixptr)[i], shift); }
+
+
+//=====================================//
+//========= Error Definition  =========//
+//=====================================// 
+
+#ifndef REMOVE_INV_ERROR_T
+	typedef int32_t inv_error_t;	/*!< Type used for error definitions. \ingroup invn_types */
+#endif
+
+//typedef int32_t mpu_error_t;
+typedef int64_t mpu_time_t;			/*!< Type used for mpu time. \ingroup invn_types */
+
+// Typically I2C addresses are 8-bit, but some specifications allow for a 10-bit address
+// This definition allows the length to be optimally defined for the platform
+typedef uint8_t inv_i2c_addr_t;		/*!< Type used for I2C addresses. \ingroup invn_types */
+
+#ifdef __IAR_SYSTEMS_ICC__
+	// These are defined in standard C errno.h
+	#define EINVAL                                  (22)
+	#define EPERM                                   (1)
+	#define ENOMEM                                  (12)
+#else
+	#include "errno.h"
+#endif
+
+#define INVN_SUCCESS							(0) 					/*!< Constant definition for success. \ingroup invn_types */
+#define INVN_ERROR_BASE							(0x20)					/*!< Constant definition for basic error. Value is \b 32 \ingroup invn_types */
+#define INVN_ERROR								(INVN_ERROR_BASE)		/*!< Constant definition for error. Value is \b 32 \ingroup invn_types */
+#define INVN_ERROR_FEATURE_NOT_ENABLED          (EPERM)					/*!< Constant definition for feature not enabled error. \ingroup invn_types */
+#define INVN_ERROR_FEATURE_NOT_IMPLEMENTED      (INVN_ERROR_BASE + 4)	/*!< Constant definition for feature not implemented error. \ingroup invn_types */
+#define INVN_ERROR_INVALID_PARAMETER            (EINVAL)				/*!< Constant definition for invalid parameter error. \ingroup invn_types */
+#define INVN_ERROR_FILE_OPEN                    (INVN_ERROR_BASE + 14)	/*!< Constant definition for opening file error. \ingroup invn_types */
+#define INVN_ERROR_FILE_READ                    (INVN_ERROR_BASE + 15)	/*!< Constant definition for reading file error. \ingroup invn_types */
+#define INVN_ERROR_FILE_WRITE                   (INVN_ERROR_BASE + 16)	/*!< Constant definition for writing file error. \ingroup invn_types */
+#define INVN_ERROR_INVALID_CONFIGURATION        (INVN_ERROR_BASE + 17)	/*!< Constant definition for invalid configuration error. \ingroup invn_types */
+/* Serial Communication */
+#define INVN_ERROR_SERIAL_OPEN_ERROR            (INVN_ERROR_BASE + 21)	/*!< Constant definition for serial open error. \ingroup invn_types */
+#define INVN_ERROR_SERIAL_READ                  (INVN_ERROR_BASE + 22)	/*!< Constant definition for serial read error. \ingroup invn_types */
+#define INVN_ERROR_SERIAL_WRITE                 (INVN_ERROR_BASE + 23)	/*!< Constant definition for serial write error. \ingroup invn_types */
+/* Fifo */
+#define INVN_ERROR_FIFO_OVERFLOW                (INVN_ERROR_BASE + 30)	/*!< Constant definition for fifo overflow error. \ingroup invn_types */
+#define INVN_ERROR_FIFO_FOOTER                  (INVN_ERROR_BASE + 31)	/*!< Constant definition for fifo footer error. \ingroup invn_types */
+#define INVN_ERROR_FIFO_READ_COUNT              (INVN_ERROR_BASE + 32)	/*!< Constant definition for fifo read count error. \ingroup invn_types */
+#define INVN_ERROR_FIFO_READ_DATA               (INVN_ERROR_BASE + 33)	/*!< Constant definition for fifo read data error. \ingroup invn_types */
+/* OS interface errors */
+#define INVN_ERROR_OS_BAD_HANDLE                (INVN_ERROR_BASE + 61)	/*!< Constant definition for OS bad handle error. \ingroup invn_types */
+#define INVN_ERROR_OS_CREATE_FAILED             (INVN_ERROR_BASE + 62)	/*!< Constant definition for OS create failed error. \ingroup invn_types */
+#define INVN_ERROR_OS_LOCK_FAILED               (INVN_ERROR_BASE + 63)	/*!< Constant definition for OS lock failed error. \ingroup invn_types */
+/* Warning */
+#define INVN_WARNING_SEMAPHORE_TIMEOUT          (INVN_ERROR_BASE + 86)	/*!< Constant definition for semaphore timeout warning. \ingroup invn_types */
+
+
+#endif // INVN_COMMON_INVN_TYPES_H_

project/ble_peripheral/ble_app_bladder_patch/measurement/imu/Invn/lib_agm/invn_algo_agm.h

@@ -0,0 +1,156 @@
+/*
+$License:
+	Copyright (C) 2018 InvenSense Corporation, All Rights Reserved.
+$
+*/
+ 
+
+#ifndef _INVN_ALGO_AGM_H_
+#define _INVN_ALGO_AGM_H_
+
+#include "invn_types.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** \defgroup AGM AGM
+ *  \brief Algorithm that provides device orientation. Algorithm inputs are raw Accelerometer, Gyroscope and Magnetometer data. 
+ *         Algorithm outputs: calibrated sensor and 9-axis sensor fusion. 
+ *  \warning supported sampling frequency [50 Hz-1000 Hz]
+ *  \warning supported gyroscope FSR [250 dps, 500 dps, 1000 dps, 2000 dps, 4000 dps]
+ *  \warning supported accelerometer FSR [1 g, 2 g, 4 g, 8 g, 16 g]
+ */
+
+#define INVN_ALGO_AGM_INPUT_MASK_ACC        1  ///< Raw Accel update mask
+#define INVN_ALGO_AGM_INPUT_MASK_GYR        2  ///< Raw Gyro update mask
+#define INVN_ALGO_AGM_INPUT_MASK_MAG        4  ///< Raw Mag update mask
+
+#define INVN_ALGO_AGM_OUTPUT_MASK_ACCEL_CAL 1  ///< Accel cal output update mask
+#define INVN_ALGO_AGM_OUTPUT_MASK_GYRO_CAL  2  ///< Gyro cal output update mask
+#define INVN_ALGO_AGM_OUTPUT_MASK_MAG_CAL   4  ///< Mag cal output update mask
+#define INVN_ALGO_AGM_OUTPUT_MASK_QUAT_AG   8  ///< Game Rotation Vector (Accel and Gyro Fusion) output update mask 
+#define INVN_ALGO_AGM_OUTPUT_MASK_QUAT_AGM  16 ///< Rotation Vector (Accel, Gyro and Magnetometer Fusion) output update mask 
+#define INVN_ALGO_AGM_OUTPUT_MASK_GRAVITY   32 ///< Gravity vector output update mask
+#define INVN_ALGO_AGM_OUTPUT_MASK_LINEARACC 64 ///< Linear acceleration vector output update mask
+
+
+/* Forward declarations */
+struct inv_icm426xx;
+
+/*! \struct InvnAlgoAGMInput
+ * AGM input structure (raw data) \ingroup AGM
+ */
+typedef struct 
+{
+	int32_t mask;            /*!<  mask to specify updated inputs. */
+	int64_t sRimu_time_us;   /*!<  timestamp \f$ [\mu s]\f$ of raw accel and gyro */
+	int32_t sRacc_data[3];   /*!<  raw accelerometer in high resolution mode. Expect Full Scale Value coded on 20 bit (i.e. +/- FSR g = 1<<19 LSB) */
+	int32_t sRgyr_data[3];   /*!<  raw gyroscope in high resolution mode. Expect Full Scale Value coded on 20 bit (i.e. +/- FSR dps = 1<<19 LSB) */
+	int16_t sRtemp_data;     /*!<  raw temperature */
+	int64_t sRmag_time_us;   /*!<  timestamp of raw mag */
+	int32_t sRmag_data[3];   /*!<  raw mag */
+} InvnAlgoAGMInput; 
+
+	
+/*! \struct InvnAlgoAGMOutput
+ * AGM output structure (calibrated sensors and fusion output)  \ingroup AGM
+ */
+typedef struct 
+{
+	int32_t mask;                /*!< mask to specify updated outputs */
+	int32_t acc_uncal_q16[3];    /*!< uncalibrated accelerometer (1 g = 1<<16) */
+	int32_t acc_cal_q16[3];      /*!< calibrated accelerometer (1 g = 1<<16) */
+	int32_t acc_bias_q16[3];     /*!< accelerometer bias (1 g = 1<<16)*/
+	int8_t  acc_accuracy_flag;   /*!< accelerometer accuracy from 0(non calibrated) to 3(well calibrated) */
+
+	int32_t gyr_uncal_q16[3];    /*!< uncalibrated gyroscope (1 dps = 1<<16) */
+	int32_t gyr_cal_q16[3];      /*!< calibrated gyroscope (1 dps = 1<<16) */
+	int32_t gyr_bias_q16[3];     /*!< gyro bias (1 dps = 1<<16)*/
+	int8_t  gyr_accuracy_flag;   /*!< gyro accuracy, from 0(non calibrated) to 3(well calibrated) */
+
+	int32_t mag_uncal_q16[3];    /*!< uncalibrated magnetometer (1uT = 1<<16) */
+	int32_t mag_cal_q16[3];      /*!< calibrated magnetometer (1uT = 1<<16) */
+	int32_t mag_bias_q16[3];     /*!< magnetometer bias (1uT = 1<<16) */
+	int8_t  mag_accuracy_flag;   /*!< magnetometer accuracy, from 0(non calibrated) to 3(well calibrated) */
+
+	int32_t grv_quat_q30[4];     /*!< 6-axis (accel and gyro fusion) quaternion */	
+	int32_t rv_quat_q30[4];      /*!< 9-axis (accel, gyro and magnetometer fusion) quaternion */
+	int32_t rv_accuracy_q27;     /*!< 9-axis (accel, gyro and magnetometer fusion) 3\sigma accuracy in rad */
+	int32_t gravity_q16[3];      /*!< gravity estimation in sensor frame */
+	int32_t linear_acc_q16[3];   /*!< linear acceleration estimation in sensor frame */
+	
+	int32_t temp_degC_q16;       /*!< temperature (1 \f$ [^{\circ}C]\f$ = 1<<16)*/
+} InvnAlgoAGMOutput; 
+
+
+/*! \struct InvnAlgoAGMConfig
+ * AGM configuration structure (sensor related settings) \ingroup AGM
+ */
+typedef struct 
+{
+	int32_t * acc_bias_q16;     /*!<  Previously stored accel bias pointer. If pointer is NULL or 0, offset will be set to { 0, 0, 0} */
+	int32_t * gyr_bias_q16;     /*!<  Previously stored gyro bias pointer. If pointer is NULL or 0, offset will be set to { 0, 0, 0} */
+	int32_t * mag_bias_q16;     /*!<  mag_bias_q16 Previously stored mag bias pointer If pointer is NULL or 0, offset will be set to { 0, 0, 0} */
+	int8_t  acc_accuracy;       /*!<  Previously stored accelerometer bias accuracy (0 to 3) */
+	int8_t  gyr_accuracy;       /*!<  Previously stored gyroscope bias accuracy (0 to 3)  */
+	int8_t  mag_accuracy;       /*!<  Previously stored magnetometer bias accuracy (0 to 3)  */
+
+	int32_t acc_fsr;            /*!<  accelerometer full scale range [g] */
+	int32_t gyr_fsr;            /*!<  gyroscope full scale range [dps] */
+
+	uint32_t acc_odr_us;        /*!<  accelerometer output data rate in \f$ [\mu s]\f$ */
+	uint32_t gyr_odr_us;        /*!<  gyroscope output data rate \f$ [\mu s]\f$ */
+
+	int32_t   mag_sc_q16;       /*!<  magnetometer sensitivity (uT/LSB, e.g. mag_uT = (mag_sc_q16 * raw_mag_LSB)/65536) */
+	uint32_t  mag_odr_us;       /*!<  magnetometer output data rate \f$ [\mu s]\f$ */
+
+	int32_t temp_sensitivity;   /*!<  temperature sensitivity in q30 (if temperature(\f$ ^{\circ}C \f$) = LSB * k + z, then temp_sensitivity = k) */
+	int32_t temp_offset;        /*!<  temperature offset in q16 (if temperature(\f$ ^{\circ}C \f$) = LSB * k + z, then temp_offset = z) */
+} InvnAlgoAGMConfig; 
+
+
+/*!
+ * \brief Return library version x.y.z-suffix as a char array
+ * \retval library version a char array "x.y.z-suffix"
+ * \ingroup AGM
+ */
+const char * invn_algo_agm_version(void);
+
+/*!
+ * \brief Initializes algorithms with default parameters and reset states.
+ * (\icm_device[in] Invensense ICM426XX device pointer. Only when gyro assisted is enabled.)
+ * \config[in] algo init parameters structure.
+ * \return initialization success indicator.
+ * \retval 0 Success
+ * \retval 1 Fail
+ * \ingroup AGM
+ */
+#ifdef WITH_GYRO_ASSIST
+uint8_t invn_algo_agm_init_a(struct inv_icm426xx * icm_device, const InvnAlgoAGMConfig * config);
+#else
+uint8_t invn_algo_agm_init(const InvnAlgoAGMConfig * config);
+#endif
+
+/*!
+ * \brief Sets algo config structure.
+ * \config[in] config structure of the algo.
+  * \ingroup AGM
+ */
+void invn_algo_agm_set_config(const InvnAlgoAGMConfig * config);
+
+
+/*!
+ * \brief Performs algorithm computation.
+ * \in inputs algorithm input. Input mask (inputs->mask) should be set with respect to new sensor data in InvnAlgoAGMInput.
+ * \out outputs algorithm output. Output mask (outputs->mask) reports updated outputs in InvnAlgoAGMOutput.
+ * \ingroup AGM
+ */
+void invn_algo_agm_process(const InvnAlgoAGMInput *inputs, InvnAlgoAGMOutput *outputs);
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif

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

@@ -0,0 +1,582 @@
+/*******************************************************************************
+ * @file	app_raw.c
+ * @author	CandyPops Co.
+ * @version	V1.0.0
+ * @date	2022-09-05
+ * @brief
+ ******************************************************************************/
+
+/*******************************************************************************
+ * [Module overview] ICM42670P IMU driver application layer
+ *
+ * Application layer module responsible for initialization, configuration,
+ * and data reading of the ICM42670P IMU sensor. Wraps InvenSense driver API.
+ *
+ * Key functions:
+ *   1) setup_imu_device()     - IMU init and WHOAMI verification (0x67 = ICM42670P)
+ *   2) configure_imu_device() - Sensor parameter configuration
+ *      - Accelerometer: +/-4g FSR, 100Hz (low-power) or 800Hz (low-noise)
+ *      - Gyroscope:     +/-2000dps FSR, 100Hz or 800Hz
+ *      - FIFO disabled (direct register read mode)
+ *   3) get_imu_data()         - Read sensor data from FIFO or registers
+ *   4) imu_callback()         - Sensor data receive callback
+ *      - Applies mounting matrix (board orientation correction)
+ *      - info4 mode: stores data in info_imu[6]
+ *      - BLE mode:   sends 6-axis data via BLE with "rsp:" tag
+ *      - UART mode:  outputs text format to serial
+ *   5) imu_read_direct()      - Direct I2C register read bypassing driver API
+ *      - Configure sensor -> power ON -> wait 80ms -> read 12 bytes -> sleep
+ *
+ * Mounting matrix:
+ *   3x3 rotation matrix in Q30 fixed-point format, correcting the sensor's
+ *   physical mounting orientation to match the software coordinate system.
+ ******************************************************************************/
+
+#include "sdk_config.h"
+#include "app_raw.h"
+#include "inv_imu_extfunc.h"
+#include "inv_imu_driver.h"
+#include "ble_nus.h"
+#include "nrf_log.h"
+#include "nrf_log_ctrl.h"
+#include "nrf_log_default_backends.h"
+
+#include "app_util_platform.h"
+#include "main.h"
+#include "debug_print.h"
+#include "nrf_delay.h"
+
+
+/*
+ * Data output format selection
+ * 0 : Raw data output (raw accel, gyro, temp)
+ * 1 : Scaled data output (g, dps, Celsius)
+ */
+#define SCALED_DATA_G_DPS 0
+
+
+/* --------------------------------------------------------------------------------------
+ *  Static and extern variables
+ * -------------------------------------------------------------------------------------- */
+
+/* IMU driver object — always passed to driver API calls */
+static struct inv_imu_device icm_driver;
+
+/* Binary buffer for BLE transmission */
+ uint8_t imu_bin_buffer[BLE_NUS_MAX_DATA_LEN] = {0};
+
+/*
+ * ICM42670P mounting matrix (Q30 fixed-point)
+ *
+ * Coordinate transform based on the sensor's physical mounting orientation.
+ * Q30 format: 1.0 = (1 << 30) = 0x40000000
+ *
+ * SM_REVB_DB (dev board): X->-Y, Y->X transform (90-degree rotation)
+ * Default (SmartMotion): identity matrix (no transform)
+ */
+#if (SM_BOARD_REV == SM_REVB_DB) /* when DB or EVB are used */
+static int32_t icm_mounting_matrix[9] = {  0,     -(1<<30), 0,
+                                          (1<<30), 0,       0,
+                                           0,      0,      (1<<30) };
+#else /* For SmartMotion */
+static int32_t icm_mounting_matrix[9] = {(1<<30),  0,       0,
+                                          0,      (1<<30),  0,
+                                          0,       0,      (1<<30)};
+#endif
+
+bool custom_add_data;                              		/* Custom data append flag (BLE transmission control) */
+extern bool motion_raw_data_enabled;               		/* Flag requesting raw data read from external module */
+extern char		ble_tx_buffer[BLE_NUS_MAX_DATA_LEN]; 	/* BLE text transmit buffer */
+extern which_cmd_t cmd_type_t;                     		/* Current command source (BLE or UART) */
+uint16_t ssp_data[6]={0,};                         		/* 6-axis data array for BLE (accel XYZ + gyro XYZ) */
+extern bool info4;                                 		/* info4 mode flag (set by cmd_parse) */
+ volatile uint16_t info_imu[6];                    		/* Global array storing IMU data in info4 mode */
+
+/* --------------------------------------------------------------------------------------
+ *  static function declaration
+ * -------------------------------------------------------------------------------------- */
+static void apply_mounting_matrix(const int32_t matrix[9], int32_t raw[3]);
+
+/* --------------------------------------------------------------------------------------
+ *  Functions definition
+ * -------------------------------------------------------------------------------------- */
+
+/*
+ * setup_imu_device()
+ * IMU device initialization and identification verification.
+ *
+ * Flow:
+ *   1) Initialize driver via inv_imu_init() (serial interface + callback registration)
+ *   2) Read WHOAMI register for device identification
+ *   3) Verify WHOAMI value matches ICM_WHOAMI (0x67)
+ *
+ * Returns: 0=success, negative=error
+ */
+int setup_imu_device(struct inv_imu_serif *icm_serif)
+{
+	int rc = 0;
+	uint8_t who_am_i;
+
+	/* Initialize IMU driver — connect serial interface and register callback */
+	rc = inv_imu_init(&icm_driver, icm_serif, imu_callback);
+	if (rc != INV_ERROR_SUCCESS) {
+		DBG_PRINTF("!!! ERROR : Failed to initialize IMU!\r\n");
+		return rc;
+	}
+
+	/* Read WHOAMI register — verify device presence and communication */
+	rc = inv_imu_get_who_am_i(&icm_driver, &who_am_i);
+	if (rc != INV_ERROR_SUCCESS) {
+		DBG_PRINTF("!!! ERROR : Failed to read whoami!\r\n");
+		return rc;
+	}
+
+	/* Verify WHOAMI value — must be 0x67 for ICM42670P */
+	if (who_am_i != ICM_WHOAMI) {
+		DBG_PRINTF("!!! ERROR : Bad WHOAMI value! Read 0x%02x, expected 0x%02x\r\n", who_am_i, ICM_WHOAMI);
+		return INV_ERROR;
+	}
+
+	return rc;
+}
+
+/*
+ * configure_imu_device()
+ * Configures IMU sensor operating parameters.
+ *
+ * Settings:
+ *   - FIFO: disabled (when USE_FIFO=0, direct register read mode)
+ *   - Accel FSR: +/-4g (when USE_HIGH_RES_MODE=0)
+ *   - Gyro FSR: +/-2000dps
+ *   - ODR (output data rate):
+ *     - Low-noise mode (USE_LOW_NOISE_MODE=1): 800Hz
+ *     - Low-power mode (USE_LOW_NOISE_MODE=0): 100Hz
+ *   - Gyro always operates in low-noise mode
+ *   - Waits for gyro startup time when FIFO is not used
+ *
+ * Returns: 0=success, negative=error
+ */
+int configure_imu_device(void)
+{
+	int rc = 0;
+
+	/* Disable FIFO — read data directly from registers */
+	if (!USE_FIFO)
+		rc |= inv_imu_configure_fifo(&icm_driver, INV_IMU_FIFO_DISABLED);
+
+	if (USE_HIGH_RES_MODE) {
+		/* High-resolution FIFO mode: 20-bit data, FSR locked to 16g/2000dps */
+		rc |= inv_imu_enable_high_resolution_fifo(&icm_driver);
+	} else {
+		/* Standard mode: accel +/-4g, gyro +/-2000dps FSR */
+		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_2000dps);
+	}
+
+	if (USE_LOW_NOISE_MODE) {
+		/* Low-noise mode: 800Hz ODR, enable accel low-noise mode */
+		rc |= inv_imu_set_accel_frequency(&icm_driver, ACCEL_CONFIG0_ODR_800_HZ);
+		rc |= inv_imu_set_gyro_frequency(&icm_driver, GYRO_CONFIG0_ODR_800_HZ);
+		rc |= inv_imu_enable_accel_low_noise_mode(&icm_driver);
+	} else {
+		/* Low-power mode: 100Hz ODR, enable accel low-power mode */
+		rc |= inv_imu_set_accel_frequency(&icm_driver, ACCEL_CONFIG0_ODR_100_HZ);
+		rc |= inv_imu_set_gyro_frequency(&icm_driver, GYRO_CONFIG0_ODR_100_HZ);
+		rc |= inv_imu_enable_accel_low_power_mode(&icm_driver);
+	}
+
+	/* Gyro always operates in low-noise mode regardless of setting */
+	rc |= inv_imu_enable_gyro_low_noise_mode(&icm_driver);
+
+	/* When FIFO is not used, wait for gyro startup time (delay until first valid data) */
+	if (!USE_FIFO)
+		inv_imu_sleep_us(GYR_STARTUP_TIME_US);
+
+	return rc;
+}
+
+
+/*
+ * get_imu_data()
+ * Reads sensor data from the IMU.
+ * Fetches data from FIFO or registers depending on USE_FIFO setting.
+ * Read data is processed via imu_callback().
+ */
+int get_imu_data(void)
+{
+#if USE_FIFO
+	return inv_imu_get_data_from_fifo(&icm_driver);
+#else
+
+	return inv_imu_get_data_from_registers(&icm_driver);
+#endif
+}
+
+#if SCALED_DATA_G_DPS
+/*
+ * get_accel_and_gyr_fsr()
+ * Retrieves the currently configured FSR (Full Scale Range) for accel and gyro.
+ * Used for converting to scaled data (g, dps).
+ */
+static void get_accel_and_gyr_fsr(int16_t * accel_fsr_g, int16_t * gyro_fsr_dps)
+{
+	ACCEL_CONFIG0_FS_SEL_t accel_fsr_bitfield;
+	GYRO_CONFIG0_FS_SEL_t gyro_fsr_bitfield;
+
+	inv_imu_get_accel_fsr(&icm_driver, &accel_fsr_bitfield);
+	switch(accel_fsr_bitfield) {
+	case ACCEL_CONFIG0_FS_SEL_2g:   *accel_fsr_g = 2;
+	break;
+	case ACCEL_CONFIG0_FS_SEL_4g:   *accel_fsr_g = 4;
+	break;
+	case ACCEL_CONFIG0_FS_SEL_8g:   *accel_fsr_g = 8;
+	break;
+	case ACCEL_CONFIG0_FS_SEL_16g:  *accel_fsr_g = 16;
+	break;
+	default:                        *accel_fsr_g = -1;
+	}
+
+	inv_imu_get_gyro_fsr(&icm_driver, &gyro_fsr_bitfield);
+	switch(gyro_fsr_bitfield) {
+	case GYRO_CONFIG0_FS_SEL_250dps:  *gyro_fsr_dps = 250;
+	break;
+	case GYRO_CONFIG0_FS_SEL_500dps:  *gyro_fsr_dps = 500;
+	break;
+	case GYRO_CONFIG0_FS_SEL_1000dps: *gyro_fsr_dps = 1000;
+	break;
+	case GYRO_CONFIG0_FS_SEL_2000dps: *gyro_fsr_dps = 2000;
+	break;
+	default:                          *gyro_fsr_dps = -1;
+	}
+}
+#endif
+
+
+/*
+ * imu_callback()
+ * Callback invoked each time the IMU driver reads new sensor data.
+ *
+ * Flow:
+ *   1) Extract raw accel/gyro data from event
+ *      - FIFO mode: handles timestamp rollover, supports high-res (20-bit)
+ *      - Register mode: uses 16-bit data directly
+ *   2) Apply mounting matrix (board orientation correction)
+ *   3) Output data (branches by mode):
+ *      - info4 mode: stores in info_imu[6] global array (polled externally)
+ *      - UART mode: text output with "Tp" prefix for 6-axis data
+ *      - BLE mode:  binary packet with "rsp:" tag + simultaneous UART output
+ */
+void imu_callback(inv_imu_sensor_event_t *event)
+{
+	int32_t accel[3], gyro[3];
+
+#if SCALED_DATA_G_DPS
+	float accel_g[3];
+	float gyro_dps[3];
+	float temp_degc;
+	int16_t accel_fsr_g, gyro_fsr_dps;
+#endif
+
+#if USE_FIFO
+	static uint64_t last_fifo_timestamp = 0;
+	static uint32_t rollover_num = 0;
+
+	/* FIFO timestamp rollover handling (16-bit -> 64-bit extension) */
+	if (last_fifo_timestamp > event->timestamp_fsync)
+		rollover_num++;
+	last_fifo_timestamp = event->timestamp_fsync;
+
+	/* Convert timestamp to microseconds (apply Q24 resolution) */
+	timestamp = event->timestamp_fsync + rollover_num * UINT16_MAX;
+	timestamp *= inv_imu_get_fifo_timestamp_resolution_us_q24(&icm_driver);
+	timestamp /= (1UL << 24);
+
+	if (icm_driver.fifo_highres_enabled) {
+		/* High-res mode: left-shift 16-bit data by 4 + add lower 4 bits -> 20-bit */
+		accel[0] = (((int32_t)event->accel[0] << 4)) | event->accel_high_res[0];
+		accel[1] = (((int32_t)event->accel[1] << 4)) | event->accel_high_res[1];
+		accel[2] = (((int32_t)event->accel[2] << 4)) | event->accel_high_res[2];
+
+		gyro[0] = (((int32_t)event->gyro[0] << 4)) | event->gyro_high_res[0];
+		gyro[1] = (((int32_t)event->gyro[1] << 4)) | event->gyro_high_res[1];
+		gyro[2] = (((int32_t)event->gyro[2] << 4)) | event->gyro_high_res[2];
+
+	} else {
+		/* Standard resolution: use 16-bit data as-is */
+		accel[0] = event->accel[0];
+		accel[1] = event->accel[1];
+		accel[2] = event->accel[2];
+
+		gyro[0] = event->gyro[0];
+		gyro[1] = event->gyro[1];
+		gyro[2] = event->gyro[2];
+	}
+#else
+
+	/* Direct register read mode: extract 16-bit raw data */
+	accel[0] = event->accel[0];
+	accel[1] = event->accel[1];
+	accel[2] = event->accel[2];
+
+	gyro[0] = event->gyro[0];
+	gyro[1] = event->gyro[1];
+	gyro[2] = event->gyro[2];
+
+	/* In register mode, force sensor mask so the output logic below works */
+	event->sensor_mask |= (1 << INV_SENSOR_TEMPERATURE);
+	event->sensor_mask |= (1 << INV_SENSOR_ACCEL);
+	event->sensor_mask |= (1 << INV_SENSOR_GYRO);
+#endif
+
+	/* Apply mounting matrix — correct sensor physical orientation to software coordinates */
+	apply_mounting_matrix(icm_mounting_matrix, accel);
+	apply_mounting_matrix(icm_mounting_matrix, gyro);
+
+#if SCALED_DATA_G_DPS
+	/*
+	 * Convert raw data to physical units (g, dps)
+	 * Formula: physical_value = raw_value * FSR / INT16_MAX
+	*/
+	get_accel_and_gyr_fsr(&accel_fsr_g, &gyro_fsr_dps);
+	accel_g[0]  = (float)(accel[0] * accel_fsr_g)  / INT16_MAX;
+	accel_g[1]  = (float)(accel[1] * accel_fsr_g)  / INT16_MAX;
+	accel_g[2]  = (float)(accel[2] * accel_fsr_g)  / INT16_MAX;
+	gyro_dps[0] = (float)(gyro[0]  * gyro_fsr_dps) / INT16_MAX;
+	gyro_dps[1] = (float)(gyro[1]  * gyro_fsr_dps) / INT16_MAX;
+	gyro_dps[2] = (float)(gyro[2]  * gyro_fsr_dps) / INT16_MAX;
+
+	/* Temperature conversion: high-res/register mode uses /128, FIFO standard mode uses /2 */
+	if (USE_HIGH_RES_MODE || !USE_FIFO)
+		temp_degc = 25 + ((float)event->temperature / 128);
+	else
+		temp_degc = 25 + ((float)event->temperature / 2);
+
+	/*
+	 * Output scaled data via UART
+	 */
+	if (event->sensor_mask & (1 << INV_SENSOR_ACCEL) && event->sensor_mask & (1 << INV_SENSOR_GYRO))
+		DBG_PRINTF("%u: %.3f, \t%.3f, \t%.3f, \t%.3f, \t%.3f, \t%.3f, \t%.3f\r\n",
+		        (uint32_t)timestamp,
+		        accel_g[0], accel_g[1], accel_g[2],
+		        temp_degc,
+		        gyro_dps[0], gyro_dps[1], gyro_dps[2]);
+#else
+
+	/*
+	 * Raw data output — branches by command source (info4/UART/BLE)
+	 */
+	if (event->sensor_mask & (1 << INV_SENSOR_ACCEL) && event->sensor_mask & (1 << INV_SENSOR_GYRO) || motion_raw_data_enabled)
+	{
+		motion_raw_data_enabled = false;
+
+		/* info4 mode: store data in global array info_imu[6], polled by external modules */
+		if (info4 == true)
+		{
+			info_imu[0] = (uint16_t)accel[0];
+			info_imu[1] = (uint16_t)accel[1];
+			info_imu[2] = (uint16_t)accel[2];
+			info_imu[3] = (uint16_t)gyro[0];
+			info_imu[4] = (uint16_t)gyro[1];
+			info_imu[5] = (uint16_t)gyro[2];
+		}
+
+		/* UART mode: output 6-axis data in text format with "Tp" prefix */
+		else if(cmd_type_t == CMD_UART) {
+			//DBG_PRINTF("Tp%d,%d,%d,%d,%d,%d\r\n\r\n", accel[0], accel[1], accel[2], gyro[0], gyro[1], gyro[2]);
+		}
+
+		/*
+			* BLE mode: send 6-axis data as binary packet via BLE
+			* ssp_data[0..2] = accel XYZ, ssp_data[3..5] = gyro XYZ
+			* format_data() packs "rsp:" tag + 12-byte data
+			* dr_binary_tx_safe() sends 8 bytes via BLE
+		*/
+		else if(cmd_type_t == CMD_BLE) {
+			ssp_data[0] = (uint16_t)accel[0];
+			ssp_data[1] = (uint16_t)accel[1];
+			ssp_data[2] = (uint16_t)accel[2];
+			ssp_data[3] = (uint16_t)gyro[0];
+			ssp_data[4] = (uint16_t)gyro[1];
+			ssp_data[5] = (uint16_t)gyro[2];
+
+			format_data(imu_bin_buffer, "rsp:", ssp_data,12);
+			//DBG_PRINTF("Tp%d,%d,%d,%d,%d,%d\r\n\r\n", accel[0], accel[1], accel[2], gyro[0], gyro[1], gyro[2]);
+			dr_binary_tx_safe(imu_bin_buffer,8);
+
+			if(custom_add_data==true) {
+				custom_add_data = false;
+			}
+			else {
+				//data_tx_handler(ble_tx_buffer);
+			}
+		}
+	}
+#endif
+}
+
+/* --------------------------------------------------------------------------------------
+ *  Static functions definition
+ * -------------------------------------------------------------------------------------- */
+
+/*
+ * apply_mounting_matrix()
+ * Applies a Q30 fixed-point rotation matrix to a 3-axis vector.
+ *
+ * Calculation:
+ *   result[i] = matrix[i*3+0]*raw[0] + matrix[i*3+1]*raw[1] + matrix[i*3+2]*raw[2]
+ *   Right-shift result by 30 bits for Q30 -> integer conversion.
+ *
+ * Ensures a consistent coordinate system regardless of physical sensor orientation.
+ */
+static void apply_mounting_matrix(const int32_t matrix[9], int32_t raw[3])
+{
+	unsigned i;
+	int64_t data_q30[3];
+
+	for(i = 0; i < 3; i++) {
+		data_q30[i] =  ((int64_t)matrix[3*i+0] * raw[0]);
+		data_q30[i] += ((int64_t)matrix[3*i+1] * raw[1]);
+		data_q30[i] += ((int64_t)matrix[3*i+2] * raw[2]);
+	}
+	/* Q30 -> integer conversion: right-shift by 30 bits */
+	raw[0] = (int32_t)(data_q30[0]>>30);
+	raw[1] = (int32_t)(data_q30[1]>>30);
+	raw[2] = (int32_t)(data_q30[2]>>30);
+}
+
+
+/*
+ * imu_read_direct()
+ * Reads IMU registers directly via I2C, bypassing the driver API.
+ * Reads data immediately without waiting for DRDY interrupt.
+ *
+ * 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)
+ *   4) Power ON: accel+gyro low-noise mode (PWR_MGMT0 = 0x0F)
+ *   5) Wait 80ms (gyro startup: min 45ms + margin)
+ *   6) Read 12 consecutive bytes from ACCEL_DATA_X1 (0x0B) (accel 6 + gyro 6)
+ *   7) Big-endian -> int16_t conversion
+ *   8) Apply mounting matrix
+ *   9) Send via BLE with "rsp:" tag
+ *  10) Switch IMU to sleep mode (power saving)
+ *
+ * Returns: 0=success, -1=TX failure, -2=RX failure
+ */
+/* Raw I2C read from ICM42670P — bypasses driver API entirely */
+#include "system_interface.h"
+#include "nrfx_twi.h"
+
+extern const nrfx_twi_t m_twi_icm42670;
+
+#define IMU_I2C_ADDR   0x68
+#define REG_ACCEL_X1   0x0B  /* ACCEL_DATA_X1 — accel X-axis upper byte register */
+
+/* --------------------------------------------------------------------------------------
+ * Direct IMU register read — raw I2C, no DRDY, sends rsp: via BLE
+ * Direct I2C register read (no interrupt, no IMU driver API)
+ * -------------------------------------------------------------------------------------- */
+int imu_read_direct(void)
+{
+	uint8_t raw[12];  /* accel 6 bytes + gyro 6 bytes */
+	int32_t accel[3], gyro[3];
+	uint8_t reg;
+	uint32_t ret;
+
+	static bool twi_ready = false;
+
+	/* TWI (I2C) init — performed only once (re-init ensures clean state) */
+	if (!twi_ready) {
+		inv_i2c_master_uninitialize();
+		inv_i2c_master_initialize();
+		twi_ready = true;
+	}
+
+	/* Gyro config: GYRO_CONFIG0(0x20) = 0x09 -> +/-2000dps FSR, 100Hz ODR */
+	{
+		uint8_t gyro_cfg[2] = { 0x20, 0x09 };
+		icm42670_twi_tx(IMU_I2C_ADDR, gyro_cfg, 2, false);
+	}
+
+	/* Accel config: ACCEL_CONFIG0(0x21) = 0x29 -> +/-4g FSR, 100Hz ODR */
+	{
+		uint8_t accel_cfg[2] = { 0x21, 0x29 };
+		icm42670_twi_tx(IMU_I2C_ADDR, accel_cfg, 2, false);
+	}
+
+	/* Power ON: PWR_MGMT0(0x1F) = 0x0F -> accel (low-noise) + gyro (low-noise) enabled */
+	{
+		uint8_t pwr_cmd[2] = { 0x1F, 0x0F };  /* reg=0x1F, val=0x0F */
+		icm42670_twi_tx(IMU_I2C_ADDR, pwr_cmd, 2, false);
+		//nrf_delay_ms(80);  /* Gyro startup: min 45ms + safety margin */
+		dr_sd_delay_ms(80);
+	}
+
+	/* Read 12 consecutive bytes from ACCEL_DATA_X1 (0x0B~0x16) */
+	reg = REG_ACCEL_X1;
+	ret = icm42670_twi_tx(IMU_I2C_ADDR, &reg, 1, true);  /* Send register address (no STOP) */
+	
+	if (ret)
+	{
+		DBG_PRINTF("[IMU] tx FAIL %u\r\n", ret);
+		return -1;
+	}
+
+	ret = icm42670_twi_rx(IMU_I2C_ADDR, raw, 12);  /* Receive 12 bytes of data */
+
+	if (ret)
+	{
+		DBG_PRINTF("[IMU] rx FAIL %u\r\n", ret);
+		return -2;
+	}
+
+	/*
+	 * Convert big-endian register layout to int16_t
+	 * raw[0..5] = accel X,Y,Z (2 bytes each, MSB first)
+	 * raw[6..11] = gyro X,Y,Z (2 bytes each, MSB first)
+	 */
+	accel[0] = (int16_t)((raw[0] << 8) | raw[1]);
+	accel[1] = (int16_t)((raw[2] << 8) | raw[3]);
+	accel[2] = (int16_t)((raw[4] << 8) | raw[5]);
+	gyro[0]  = (int16_t)((raw[6] << 8) | raw[7]);
+	gyro[1]  = (int16_t)((raw[8] << 8) | raw[9]);
+	gyro[2]  = (int16_t)((raw[10] << 8) | raw[11]);
+
+	/* Apply mounting matrix — board orientation correction */
+	apply_mounting_matrix(icm_mounting_matrix, accel);
+	apply_mounting_matrix(icm_mounting_matrix, gyro);
+
+	/* Pack data */
+	ssp_data[0] = (uint16_t)accel[0];
+	ssp_data[1] = (uint16_t)accel[1];
+	ssp_data[2] = (uint16_t)accel[2];
+	ssp_data[3] = (uint16_t)gyro[0];
+	ssp_data[4] = (uint16_t)gyro[1];
+	ssp_data[5] = (uint16_t)gyro[2];
+
+	if (info4 == true)
+	{
+		/* info4 mode: store in global array (sent as rbb: packet by mbb?) */
+		info_imu[0] = ssp_data[0];
+		info_imu[1] = ssp_data[1];
+		info_imu[2] = ssp_data[2];
+		info_imu[3] = ssp_data[3];
+		info_imu[4] = ssp_data[4];
+		info_imu[5] = ssp_data[5];
+	}
+	else
+	{
+		/* Normal mode: send immediately via BLE with "rsp:" tag */
+		format_data(imu_bin_buffer, "rsp:", ssp_data, 12);
+		dr_binary_tx_safe(imu_bin_buffer, 8);
+	}
+
+	/* IMU sleep mode: PWR_MGMT0 = 0x00 -> accel/gyro both OFF (power saving) */
+	{
+		uint8_t pwr_off[2] = { 0x1F, 0x00 };  /* reg=PWR_MGMT0, val=0x00 */
+		icm42670_twi_tx(IMU_I2C_ADDR, pwr_off, 2, false);
+	}
+
+	return 0;
+}

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

@@ -0,0 +1,101 @@
+/*******************************************************************************
+ * @file	app_raw.h
+ * @author	CandyPops Co.
+ * @version V1.0.0
+ * @date	2022-09-05
+ * @brief
+ ******************************************************************************/
+
+/*******************************************************************************
+ * [Header overview] ICM42670P IMU driver application layer declarations
+ *
+ * Function prototypes and operating mode configuration macros for
+ * IMU sensor initialization, configuration, and data reading.
+ *
+ * Key configuration macros:
+ *   SERIF_TYPE         - Communication interface (UI_I2C)
+ *   USE_LOW_NOISE_MODE - 1: low-noise (800Hz), 0: low-power (100Hz)
+ *   USE_HIGH_RES_MODE  - 1: 20-bit high-res, 0: 16-bit standard
+ *   USE_FIFO           - 1: use FIFO, 0: direct register read
+ ******************************************************************************/
+
+#ifndef _APP_RAW_H_
+#define _APP_RAW_H_
+#include "sdk_config.h"
+
+#include <stdint.h>
+#include "inv_imu_transport.h"
+#include "inv_imu_defs.h"
+#include "inv_imu_driver.h"
+
+
+/*** Configuration macros ***/
+
+/*
+ * MCU-IMU communication interface selection
+ * UI_I2C: use I2C communication (default)
+ */
+#define SERIF_TYPE           UI_I2C
+
+/*
+ * Power mode selection
+ * 1: Low-noise mode — 800Hz ODR, high precision, higher power consumption
+ * 0: Low-power mode — 100Hz ODR, lower power consumption
+ * Note: Low-noise mode cannot be used with ODR below 12.5Hz
+ */
+#define USE_LOW_NOISE_MODE   1
+
+/*
+ * FIFO resolution mode selection
+ * 0: Low resolution — 16-bit data (default)
+ * 1: High resolution — 20-bit data (FSR locked to 16g/2000dps)
+ */
+#define USE_HIGH_RES_MODE    0
+
+/*
+ * Data read method selection
+ * 0: Direct register read (currently in use)
+ * 1: Read from FIFO
+ */
+#define USE_FIFO             0
+
+
+/**
+ * \brief Resets and initializes the IMU device. Includes WHOAMI verification.
+ *        Must complete successfully before calling any other IMU access functions.
+ *
+ * \return 0=success, negative=error
+ */
+int setup_imu_device(struct inv_imu_serif *icm_serif);
+
+/**
+ * \brief Configures the device for gyro and accel output.
+ *        Applies FSR, ODR, power mode, and FIFO settings.
+ * \return 0=success, negative=error
+ */
+int configure_imu_device(void);
+
+/**
+ * \brief Retrieves IMU data from FIFO or registers.
+ *        Internally triggers imu_callback() for data processing.
+ * \return 0=success, negative=error
+ */
+int get_imu_data(void);
+
+/**
+ * \brief Sensor data receive callback. Applies mounting matrix then
+ *        outputs data according to info4/BLE/UART mode.
+ * \param[in] event Structure containing one sensor data packet
+ */
+void imu_callback(inv_imu_sensor_event_t *event);
+
+/**
+ * \brief Direct I2C register read bypassing the driver API.
+ *        Reads sensor data immediately without DRDY interrupt and sends via BLE.
+ *        Switches IMU to sleep mode after reading to save power.
+ * \return 0=success, negative=error
+ */
+int imu_read_direct(void);
+
+
+#endif /* !_APP_RAW_H_ */

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

@@ -0,0 +1,292 @@
+/*******************************************************************************
+ * @file	app_raw_main.c
+ * @author	CandyPops Co.
+ * @version V1.0.0
+ * @date	2022-09-05
+ * @brief
+ ******************************************************************************/
+
+/*******************************************************************************
+ * 2026.03.26 jhChun
+ * This file is currently not executed at runtime.
+ * Instead of interrupt-driven reads, imu_read_direct() in app_raw.c
+ * reads registers directly. May be cleaned up later as needed.
+ ******************************************************************************/
+
+/*******************************************************************************
+ * [Module overview] ICM42670P main initialization and polling loop
+ *
+ * Handles the full initialization sequence and main loop for the ICM42670P
+ * IMU sensor.
+ *
+ * Init flow (icm42670_init):
+ *   1) setup_mcu()             - Configure I2C serial interface struct and TWI init
+ *   2) setup_imu_device()      - IMU driver init + WHOAMI verification
+ *   3) configure_imu_device()  - Sensor parameter config (FSR, ODR, power mode)
+ *   4) inv_gpio_sensor_irq_init() - INT1 (P1.13) GPIO interrupt setup
+ *
+ * Main loop (icm42670_main):
+ *   - irq_from_device flag is set when INT1 interrupt fires
+ *   - Main loop checks the flag and reads sensor data when set
+ *   - Interrupt triggers on falling edge (HITOLO) with INT1 pin pulled up
+ *
+ * Helper functions:
+ *   - inv_imu_sleep_us()     - nrf_delay_us wrapper (used by IMU driver)
+ *   - inv_imu_get_time_us()  - Provides timestamp via RTC1 counter
+ ******************************************************************************/
+#include "sdk_config.h"
+#include "app_raw.h"
+#include "app_raw_main.h"
+#include "RingBuffer.h"
+#include "inv_imu_driver.h"
+
+#include "system_interface.h"
+
+/* std */
+#include <stdio.h>
+#include "nrf.h"
+#include "app_error.h"
+#include "boards.h"
+#include "nrfx_gpiote.h"
+#include "nrf_delay.h"
+
+#include "app_util_platform.h"
+#include "main.h"  /* 2026-03-17: removed cmd_parse.h, using main.h */
+#include "i2c_manager.h"
+/* --------------------------------------------------------------------------------------
+ *  Global variables
+ * -------------------------------------------------------------------------------------- */
+
+/* --------------------------------------------------------------------------------------
+ *  Static variables
+ * -------------------------------------------------------------------------------------- */
+
+/*
+ * IMU interrupt flag
+ * Set to 1 on falling-edge interrupt of INT1 pin.
+ * Main loop checks this flag, reads data, and clears it to 0.
+ * volatile: modified by ISR, prevents compiler optimization.
+ */
+static volatile int irq_from_device;
+
+
+/* --------------------------------------------------------------------------------------
+ *  Forward declaration
+ * -------------------------------------------------------------------------------------- */
+static int setup_mcu(struct inv_imu_serif *icm_serif);
+
+/*!
+* @brief	Sensor general interrupt handler, calls specific handlers.
+*
+* This function is called when an external interrupt is triggered by the sensor,
+* checks interrupt registers of InvenSense Sensor to determine the source and type of interrupt
+* and calls the specific interrupt handler accordingly.
+*
+* @param[in]	NULL
+*
+* @param[out]	NULL
+*
+* @return		NULL
+*
+*/
+/*
+ * inv_gpio_sensor_interrupt_handler()
+ * INT1 pin interrupt handler (ISR).
+ * Called when the sensor has new data ready; sets a flag and returns immediately.
+ * Actual data processing is done in the main loop (icm42670_main).
+ */
+static void inv_gpio_sensor_interrupt_handler(nrfx_gpiote_pin_t pin, nrf_gpiote_polarity_t action)
+{
+	irq_from_device = 1;
+}
+
+
+/*
+ * inv_gpio_sensor_irq_init()
+ * Initializes INT1 (P1.13) GPIO interrupt.
+ *
+ * Configuration:
+ *   - Trigger: falling edge (HITOLO) — when the sensor pulls INT low
+ *   - Pull-up: internal pull-up enabled
+ *   - Handler: inv_gpio_sensor_interrupt_handler
+ *   - Initializes GPIOTE module first if not already initialized
+ */
+void inv_gpio_sensor_irq_init(void)
+{
+    ret_code_t err_code;
+
+	/* Initialize GPIOTE module (skip if already initialized) */
+	if (!nrfx_gpiote_is_init())
+	{
+	  err_code = nrfx_gpiote_init();
+	  APP_ERROR_CHECK(err_code);
+	}
+
+    /* Falling-edge interrupt: trigger on High->Low transition, internal pull-up */
+    nrfx_gpiote_in_config_t in_config = NRFX_GPIOTE_CONFIG_IN_SENSE_HITOLO(true);
+    in_config.pull = NRF_GPIO_PIN_PULLUP;
+
+    /* Register interrupt handler for INT1 pin */
+    err_code = nrfx_gpiote_in_init(ICM42670_INT1_PIN, &in_config, inv_gpio_sensor_interrupt_handler);
+    APP_ERROR_CHECK(err_code);
+
+    /* Enable interrupt event */
+    nrfx_gpiote_in_event_enable(ICM42670_INT1_PIN, true);
+}
+
+
+/*
+ * inv_gpio_sensor_irq_uninit()
+ * Disables and releases the INT1 GPIO interrupt.
+ * Called when deactivating the sensor or before re-initialization.
+ */
+void inv_gpio_sensor_irq_uninit(void)
+{
+	/* Disable interrupt event */
+	nrfx_gpiote_in_event_disable(ICM42670_INT1_PIN);
+
+	/* Release INT1 pin interrupt configuration */
+	nrfx_gpiote_in_uninit(ICM42670_INT1_PIN);
+
+	/* Release GPIOTE module (only if initialized) */
+	if (nrfx_gpiote_is_init())
+	{
+	  nrfx_gpiote_uninit();
+
+	}
+}
+
+/* --------------------------------------------------------------------------------------
+ *  Main
+ * -------------------------------------------------------------------------------------- */
+
+/*
+ * icm42670_init()
+ * Performs the full ICM42670P initialization sequence.
+ *
+ * Init order:
+ *   1) setup_mcu()             - Configure I2C interface struct and TWI hardware init
+ *   2) setup_imu_device()      - IMU driver init, WHOAMI (0x67) verification
+ *   3) configure_imu_device()  - FSR, ODR, power mode configuration
+ *   4) inv_gpio_sensor_irq_init() - Enable INT1 interrupt (data-ready notification)
+ *
+ * Returns: 0=success, -1=initialization failure
+ */
+int icm42670_init(void)
+{
+	int rc = 0;
+	struct inv_imu_serif icm_serif;
+
+	rc |= setup_mcu(&icm_serif);
+	rc |= setup_imu_device(&icm_serif);
+	rc |= configure_imu_device();
+
+	if(rc != 0){
+		printf("!!!error during initialization\r\n");
+		return -1;
+	}
+
+	/* Enable INT1 interrupt after successful init — ISR fires on data ready */
+	inv_gpio_sensor_irq_init();
+
+	return rc;
+}
+
+
+/*
+ * icm42670_main()
+ * ICM42670P main polling loop.
+ * Must be called periodically from the main application loop.
+ *
+ * Operation:
+ *   1) Check if I2C hardware is initialized (hw_i2c_init_once)
+ *   2) Check irq_from_device flag (set by ISR)
+ *   3) If flag is set, read sensor data (get_imu_data)
+ *   4) Clear flag after data read completes
+ *
+ * Note: Interrupt-based polling — ISR only sets the flag; actual I2C
+ * communication is done in the main context.
+ */
+void icm42670_main(void)
+{
+	int rc = 0;
+   hw_i2c_init_once();
+	/* Check for interrupt and read data */
+
+	if (irq_from_device) {
+		rc = get_imu_data();
+
+		if(rc < 0) {
+			printf("error while getting data\r\n");
+		}
+
+		/* Clear flag — wait for next interrupt */
+		irq_from_device = 0;
+	}
+
+}
+
+
+/* --------------------------------------------------------------------------------------
+ *  Functions definitions
+ * -------------------------------------------------------------------------------------- */
+
+/*
+ * setup_mcu()
+ * Configures the MCU-side serial interface.
+ *
+ * Registers the following in the inv_imu_serif struct:
+ *   - read_reg / write_reg : I2C read/write callbacks (implemented in system_interface.c)
+ *   - max_read / max_write : Max transfer size (32KB)
+ *   - serif_type           : Communication type (UI_I2C)
+ *
+ * After configuration, calls inv_io_hal_init() to initialize the TWI hardware.
+ */
+static int setup_mcu(struct inv_imu_serif *icm_serif)
+{
+	int rc = 0;
+
+	/* Configure serial interface struct for IMU driver */
+	icm_serif->context   = 0;        /* Context unused */
+	icm_serif->read_reg  = inv_io_hal_read_reg;   /* Register read callback */
+	icm_serif->write_reg = inv_io_hal_write_reg;   /* Register write callback */
+	icm_serif->max_read  = 1024*32;  /* Max bytes per read */
+	icm_serif->max_write = 1024*32;  /* Max bytes per write */
+	icm_serif->serif_type = SERIF_TYPE;  /* UI_I2C (defined in app_raw.h) */
+
+	/* Initialize TWI hardware */
+	rc |= inv_io_hal_init(icm_serif);
+
+	return rc;
+}
+
+
+/* --------------------------------------------------------------------------------------
+ *  Extern functions definition
+ * -------------------------------------------------------------------------------------- */
+
+/*
+ * inv_imu_sleep_us()
+ * Microsecond sleep function used by the IMU driver.
+ * Wraps nrf_delay_us() to provide a platform-independent interface.
+ * Example: used for gyro startup delay (GYR_STARTUP_TIME_US).
+ */
+void inv_imu_sleep_us(uint32_t us)
+{
+	nrf_delay_us(us);
+}
+
+
+/*
+ * inv_imu_get_time_us()
+ * Timestamp function used by the IMU driver.
+ * Returns the nRF52840 RTC1 counter value.
+ *
+ * Note: RTC1 runs at 32.768kHz, so the returned value is technically
+ * in RTC ticks (~30.5us/tick), not microseconds.
+ * Used for relative time comparisons within the driver.
+ */
+uint64_t inv_imu_get_time_us(void)
+{
+	return NRF_RTC1->COUNTER;
+}

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

@@ -0,0 +1,32 @@
+/*******************************************************************************
+ * @file	app_raw_main.h
+ * @author	CandyPops Co.
+ * @version V1.0.0
+ * @date	2022-09-05
+ * @brief
+ ******************************************************************************/
+
+/*******************************************************************************
+ * [Header overview] ICM42670P main initialization/polling loop declarations
+ *
+ * Declares the full initialization and main loop functions for the
+ * ICM42670P IMU sensor.
+ *   - icm42670_init()   : Full init (MCU config -> IMU init -> sensor config -> enable IRQ)
+ *   - icm42670_main()   : Main polling loop (check INT1 interrupt -> read data)
+ *   - icm42670_uninit() : Release (prototype only, implementation elsewhere)
+ ******************************************************************************/
+
+#ifndef _APP_RAW_MAIN_H_
+#define _APP_RAW_MAIN_H_
+#include "sdk_config.h"
+
+/* ICM42670P full init — MCU I2C config -> IMU driver init -> sensor config -> enable IRQ */
+int icm42670_init(void);
+
+/* ICM42670P main polling loop — check INT1 interrupt flag, then read sensor data */
+void icm42670_main(void);
+
+/* ICM42670P release (prototype declaration) */
+int icm42670_uninit(void);
+
+#endif /* !_APP_RAW_MAIN_H_ */

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

@@ -0,0 +1,334 @@
+/*******************************************************************************
+ * @file	system_interface.c
+ * @author	CandyPops Co.
+ * @version	V1.0.0
+ * @date	2022-09-05
+ * @brief
+ ******************************************************************************/
+
+/*******************************************************************************
+ * [Module overview] ICM42670P IMU sensor I2C communication interface
+ *
+ * Low-level interface module for communicating with the ICM42670P IMU sensor
+ * via the nRF52840 TWI (I2C) hardware.
+ *
+ * - I2C slave address: 0x68 (ICM42670P default)
+ * - I2C pin config: SCL=P1.14, SDA=P1.15 (defined in system_interface.h)
+ * - TWI instance: NRFX_TWI_INSTANCE(0)
+ * - Bus speed: 100kHz (NRF_TWI_FREQ_100K)
+ *
+ * Main function flow:
+ *   inv_io_hal_init()      -> Initialize I2C or SPI (only I2C implemented)
+ *   inv_io_hal_read_reg()  -> Register read (TX address -> RX data)
+ *   inv_io_hal_write_reg() -> Register write (TX address+data at once)
+ *
+ * Error handling: All I2C read/write operations retry once on failure
+ *
+ * Note: SPI4 code path exists but is not implemented;
+ *       only I2C (UI_I2C) is used in production.
+ ******************************************************************************/
+
+/* board driver */
+#include <stdio.h>
+#include <string.h>
+#include <stdarg.h>
+
+#include <stdbool.h>
+#include "nrf.h"
+#include "app_error.h"
+#include "boards.h"
+#include "nrfx_gpiote.h"
+#include "nrfx_twi.h"
+
+#include "system_interface.h"
+#include "nrf_delay.h"
+
+/* ICM42670P I2C slave address and max serial write byte count */
+#define ICM_I2C_ADDR     0x68
+#define INV_MAX_SERIAL_WRITE 16
+
+/* TWI (I2C) instance — uses ICM42670_I2C_INSTANCE(0) from system_interface.h */
+const nrfx_twi_t m_twi_icm42670 = NRFX_TWI_INSTANCE(ICM42670_I2C_INSTANCE);
+
+/*
+ * inv_i2c_master_uninitialize()
+ * Disables the I2C bus and releases the TWI instance.
+ * Called before entering sleep mode or before re-initialization.
+ */
+void inv_i2c_master_uninitialize(void){
+    nrfx_twi_disable(&m_twi_icm42670);
+    nrfx_twi_uninit(&m_twi_icm42670);
+}
+
+/*
+ * inv_i2c_master_initialize()
+ * Initializes and enables the nRF52840 TWI hardware.
+ * - SCL: P1.14, SDA: P1.15
+ * - Speed: 100kHz
+ * - Interrupt priority: highest (APP_IRQ_PRIORITY_HIGH)
+ * - No event handler (blocking mode)
+ */
+void inv_i2c_master_initialize(void){
+    ret_code_t err_code;
+
+    const nrfx_twi_config_t twi_icm42670_config = {
+       .scl                = ICM42670_I2C_SCL_PIN,
+       .sda                = ICM42670_I2C_SDA_PIN,
+       .frequency          = NRF_TWI_FREQ_100K,
+       .interrupt_priority = APP_IRQ_PRIORITY_HIGH,
+    };
+
+    /* Initialize TWI driver (event handler=NULL -> blocking mode) */
+    err_code = nrfx_twi_init(&m_twi_icm42670, &twi_icm42670_config, NULL, NULL);
+    APP_ERROR_CHECK(err_code);
+
+    /* Enable TWI hardware — tx/rx available after this */
+    nrfx_twi_enable(&m_twi_icm42670);
+}
+
+
+/*
+ * icm42670_twi_tx()
+ * I2C transmit wrapper. Calls nrfx_twi_tx to send data.
+ * If no_stop=true, STOP condition is omitted (used for Repeated START).
+ */
+uint32_t icm42670_twi_tx(  uint8_t       device_id,
+                          uint8_t const *       p_data,
+                          uint8_t               length,
+                          bool                  no_stop)
+{
+	ret_code_t ret;
+	ret = nrfx_twi_tx(&m_twi_icm42670, device_id, p_data, length, no_stop);
+	return ret;
+}
+
+
+/*
+ * icm42670_twi_rx()
+ * I2C receive wrapper. Calls nrfx_twi_rx to receive data.
+ */
+uint32_t icm42670_twi_rx(  uint8_t       device_id,
+                          uint8_t *             p_data,
+                          uint8_t               length)
+{
+	ret_code_t ret;
+	ret = nrfx_twi_rx(&m_twi_icm42670, device_id, p_data, length);
+	return ret;
+}
+
+
+/*
+ * inv_i2c_master_read_register()
+ * Reads data from a specific ICM42670P register.
+ *
+ * Sequence:
+ *   1) TX: Send 1-byte register address (no_stop=true -> prepare Repeated START)
+ *   2) RX: Receive data of specified length
+ *
+ * Error handling: Retries once on TX or RX failure.
+ */
+static unsigned long inv_i2c_master_read_register(unsigned char Address, unsigned char RegisterAddr, unsigned short RegisterLen, unsigned char *RegisterValue){
+	//ret_code_t ret;
+	uint32_t ret;
+	uint8_t addr8 = (uint8_t)RegisterAddr;
+
+	/* Step 1: Send register address to read (no STOP -> uses Repeated START) */
+	ret = icm42670_twi_tx(Address, &addr8, 1, true);
+	if(ret != NRF_SUCCESS) {
+		/* Retry once on failure */
+		ret = icm42670_twi_tx(Address, &addr8, 1, true);
+		if(ret != NRF_SUCCESS) {
+		  	printf("ERR! i2c read-1\r\n");
+		}
+	}
+
+	/* Step 2: Receive data from the register */
+	ret = icm42670_twi_rx(Address, RegisterValue, RegisterLen);
+	if(ret != NRF_SUCCESS) {
+		/* Retry once on failure */
+		ret = icm42670_twi_rx(Address, RegisterValue, RegisterLen);
+		if(ret != NRF_SUCCESS) {
+		  	printf("ERR! i2c read-2\r\n");
+		}
+	}
+
+	return ret;
+}
+
+/*
+ * inv_i2c_master_write_register()
+ * Writes data to a specific ICM42670P register.
+ *
+ * Sequence:
+ *   1) Place register address in buffer[0], data in buffer[1..N]
+ *   2) TX: Send address+data at once (no_stop=false -> includes STOP condition)
+ *
+ * Error handling: Retries once on failure.
+ */
+static unsigned long inv_i2c_master_write_register(unsigned char Address, unsigned char RegisterAddr, unsigned short RegisterLen, const unsigned char *RegisterValue){
+	uint32_t ret;
+	uint8_t buffer[1 + INV_MAX_SERIAL_WRITE]; /* register address (1) + data (max 16 bytes) */
+
+	/* Buffer layout: [register address][data bytes] */
+	buffer[0] = (uint8_t)RegisterAddr;
+	memcpy(buffer+1, RegisterValue, RegisterLen);
+
+	/* Send address+data at once */
+	ret = icm42670_twi_tx(Address, buffer, RegisterLen+1, false);
+	if(ret != NRF_SUCCESS) {
+		/* Retry once on failure */
+		ret = icm42670_twi_tx(Address, buffer, RegisterLen+1, false);
+		if(ret != NRF_SUCCESS) {
+		  	printf("ERR! i2c write\r\n");
+		}
+	}
+
+	return ret;
+}
+
+
+
+/*
+ * inv_io_hal_init()
+ * Initializes the serial interface (I2C or SPI) used by the IMU driver.
+ * Branches based on serif->serif_type; only I2C is currently implemented.
+ * Returns: 0=success, -1=unsupported interface type
+ */
+
+int inv_io_hal_init(struct inv_imu_serif *serif)
+{
+
+	switch (serif->serif_type) {
+		case UI_SPI4:
+		{
+			/* SPI4 init — not implemented (only I2C is used) */
+			break;
+		}
+
+		case UI_I2C:
+			inv_i2c_master_initialize();
+			break;
+
+		default:
+			return -1;
+	}
+
+	return 0;
+}
+
+
+/*
+ * inv_io_hal_read_reg()
+ * IMU driver callback: reads data from the specified register.
+ * Performs I2C or SPI read depending on the serial type.
+ */
+int inv_io_hal_read_reg(struct inv_imu_serif *serif, uint8_t reg, uint8_t * rbuffer, uint32_t rlen)
+{
+	switch (serif->serif_type) {
+		case UI_SPI4:
+			return 0;
+
+		case UI_I2C:
+			return inv_i2c_master_read_register(ICM_I2C_ADDR, reg, rlen, rbuffer);
+
+		default:
+			return -1;
+	}
+}
+
+/*
+ * inv_io_hal_write_reg()
+ * IMU driver callback: writes data to the specified register.
+ * Performs I2C or SPI write depending on the serial type.
+ */
+int inv_io_hal_write_reg(struct inv_imu_serif *serif, uint8_t reg, const uint8_t * wbuffer, uint32_t wlen)
+{
+	switch (serif->serif_type) {
+		case UI_SPI4:
+			return 0;
+
+		case UI_I2C:
+			return inv_i2c_master_write_register(ICM_I2C_ADDR, reg, wlen, wbuffer);
+
+		default:
+			return -1;
+	}
+}
+
+/*
+ * cat_read()
+ * Generic I2C read function (debug/legacy).
+ * Reads 8 bytes, returns the first byte, and prints the data to console.
+ * Note: Not used in production; kept for debug purposes.
+ */
+uint8_t cat_read(uint8_t device_id, uint8_t address, uint8_t *data)
+	{
+
+				uint8_t read_data = 0;
+		char adata[8];
+		 ret_code_t err_code;
+    //address = 1|(address<<1);
+    address = (address & 0xFF);
+
+    /* Send register address (no STOP, prepare Repeated START) */
+    err_code = nrfx_twi_tx(&m_twi_icm42670, device_id, &address, 1, true);
+    if (err_code != NRF_SUCCESS) {
+        // Handle error
+       // return;
+    }
+
+    /* Receive 8 bytes of data */
+    err_code = nrfx_twi_rx(&m_twi_icm42670, device_id, data, 8);
+    if (err_code != NRF_SUCCESS) {
+        // Handle error
+        return 0;
+    }
+		read_data = data[0];
+		memcpy(adata,data,8);
+		printf("Data %s  . \r\n", adata);
+		 return read_data;
+
+
+
+
+
+
+
+ }
+
+/*
+ * cat_write()
+ * Generic I2C write function (debug/legacy).
+ * Sends 1 byte address + 1 byte data.
+ * Note: Copies 6 bytes into buffer, but only transmits 2 bytes.
+ */
+void cat_write(uint8_t device_id, uint8_t address, uint8_t *data){
+
+		uint8_t buffer[7]={0x00,0x00,0x00,0x00,0x00,0x00,0x00};
+
+    address = (address & 0xFF);
+
+		    buffer[0] = (address);
+		//buffer[1] =(data & 0xFF);
+		memcpy(buffer+1,data,6);
+    ret_code_t err_code;
+		//err_code = nrf_drv_twi_tx(&m_twi_ir, device_id, 0x00, 1, false);
+
+		/* Address (1 byte) + data (1 byte) = 2 bytes transmitted */
+		err_code = nrfx_twi_tx(&m_twi_icm42670, device_id, buffer, 2, false);
+//    err_code = nrf_drv_twi_tx(&m_twi_ir, device_id, buffer, 2, false);
+//	nrfx_twi_rx(&m_twi_icm42670, device_id, p_data, length);
+//	nrfx_twi_tx(&m_twi_icm42670, device_id, p_data, length, no_stop);
+		printf("Data %x  %x    %x   %x. \r\n", buffer[0], buffer[1], buffer[2], buffer[3]);
+
+		//err_code = nrf_drv_twi_tx(&m_twi_ir, device_id, buffer, 6, false);
+    if (err_code != NRF_SUCCESS) {
+
+        printf("TWI  Error.");
+
+
+
+ 	}
+
+}
+

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

@@ -0,0 +1,73 @@
+/*******************************************************************************
+ * @file	system_interface.h
+ * @author	CandyPops Co.
+ * @version	V1.0.0
+ * @date	2022-09-05
+ * @brief
+ ******************************************************************************/
+
+/*******************************************************************************
+ * [Header overview] ICM42670P I2C communication interface declarations
+ *
+ * Pin definitions and function prototypes for communicating with the
+ * ICM42670P IMU sensor via nRF52840 TWI hardware.
+ *
+ * Pin assignment:
+ *   - I2C SCL : P1.14
+ *   - I2C SDA : P1.15
+ *   - INT1    : P1.13 (data-ready interrupt)
+ *   - INT2    : P0.26 (auxiliary interrupt, currently unused)
+ *
+ * TWI instance: 0
+ ******************************************************************************/
+
+#ifndef _SYSTEM_INTERFACE_H_
+#define _SYSTEM_INTERFACE_H_
+
+#include "inv_imu_transport.h"
+#include <stdbool.h>
+/* TODO: Move that somewhere else */
+#ifndef TO_MASK
+#define TO_MASK(a) (1U << (unsigned)(a))
+#endif
+
+
+#define ICM42670_I2C_INSTANCE 		0 /**< I2C (TWI) instance index */
+#define ICM42670_I2C_SDA_PIN    	NRF_GPIO_PIN_MAP(1,15) /**< SDA pin: P1.15 */
+#define ICM42670_I2C_SCL_PIN    	NRF_GPIO_PIN_MAP(1,14) /**< SCL pin: P1.14 */
+#define ICM42670_INT1_PIN     		NRF_GPIO_PIN_MAP(1,13) /**< INT1 pin: P1.13 (data-ready interrupt) */
+#define ICM42670_INT2_PIN     		NRF_GPIO_PIN_MAP(0,26) /**< INT2 pin: P0.26 (auxiliary, currently unused) */
+
+/* I2C transmit wrapper — if no_stop=true, STOP condition is omitted for Repeated START */
+uint32_t icm42670_twi_tx(  uint8_t       device_id,
+                          uint8_t const *       p_data,
+                          uint8_t               length,
+                          bool                  no_stop);
+
+/* I2C receive wrapper */
+uint32_t icm42670_twi_rx(  uint8_t       device_id,
+                          uint8_t *             p_data,
+                          uint8_t               length);
+
+/* Generic I2C read (debug/legacy) — reads 8 bytes and returns the first byte */
+uint8_t cat_read (uint8_t device_id, uint8_t address, uint8_t *data);
+
+/* Generic I2C write (debug/legacy) — sends address+data 2 bytes */
+void cat_write (uint8_t device_id, uint8_t address, uint8_t *data);
+
+/* Release I2C hardware (called before sleep or re-initialization) */
+void inv_i2c_master_uninitialize(void);
+
+/* Initialize I2C hardware (100kHz, blocking mode) */
+void inv_i2c_master_initialize(void);
+
+/* Initialize serial interface for IMU driver (I2C/SPI branch) */
+int inv_io_hal_init(struct inv_imu_serif *serif);
+
+/* IMU driver callback: register read */
+int inv_io_hal_read_reg(struct inv_imu_serif *serif, uint8_t reg, uint8_t * rbuffer, uint32_t rlen);
+
+/* IMU driver callback: register write */
+int inv_io_hal_write_reg(struct inv_imu_serif *serif, uint8_t reg, const uint8_t * wbuffer, uint32_t wlen);
+
+#endif /* !_SYSTEM_INTERFACE_H_ */

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

@@ -0,0 +1,125 @@
+/*==============================================================================
+ * dr_piezo.h - Piezo Transducer Driver (2 MHz Signal Generator)
+ *
+ * Hardware: nRF52840 + MD1822K6-G MOSFET Driver + TC7920K6-G MOSFET
+ * Output:   +/-20V at 2 MHz, 3..7 cycles burst
+ *
+ * Timing Sequence:
+ *   1. PE = HIGH (enable)
+ *   2. P_OUT/N_OUT = 2 MHz pulses (3..7 cycles)
+ *   3. DMP = HIGH (dump residual energy)
+ *   4. DMP = LOW
+ *   5. PE = LOW (disable)
+ *
+ * Pin assignment:
+ *   Power:   DR_PIEZO_PWR_EN (P1.9)  — DC/DC +/-20V enable
+ *   TX:      PE (P0.25), DMP (P1.0), P_OUT (P1.7), N_OUT (P1.6)
+ *   MUX:     EN_MUXA (P0.21), EN_MUXB (P0.23), SEL0 (P1.10), SEL1 (P0.28)
+ *
+ * MUX channel mapping (8ch):
+ *   CH0=A0(1,0,0,0) CH1=A2(1,0,1,0) CH2=A1(1,0,0,1) CH3=A3(1,0,1,1)
+ *   CH4=B0(0,1,1,1) CH5=B1(0,1,0,1) CH6=B2(0,1,1,0) CH7=B3(0,1,0,0)
+ *
+ * Two burst modes:
+ *   1) HW burst (dr_piezo_burst): Timer2 + PPI + GPIOTE, CPU-independent
+ *   2) SW burst (dr_piezo_burst_sw_XXmhz): CPU NOP-based precise timing
+ *      Per-frequency functions: 1.7 / 1.8 / 1.9 / 2.0 / 2.1 / 2.2 MHz
+ *============================================================================*/
+
+#ifndef DR_PIEZO_H
+#define DR_PIEZO_H
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "nrf_gpio.h"
+
+/*==============================================================================
+ * Power control pin (+/-20V DC/DC converter)
+ *============================================================================*/
+#define DR_PIEZO_PWR_EN       NRF_GPIO_PIN_MAP(1, 9)
+
+/*==============================================================================
+ * TX signal pins (MOSFET driver)
+ *   PE:    Pulse Enable — activates the entire TX sequence
+ *   DMP:   Dump — discharges residual piezo energy after burst
+ *   P_OUT: Positive output — drives piezo positive terminal
+ *   N_OUT: Negative output — drives piezo negative terminal (inverted P_OUT)
+ *============================================================================*/
+#define DR_PIEZO_PIN_PE         NRF_GPIO_PIN_MAP(0, 25)   /**< Pulse Enable */
+#define DR_PIEZO_PIN_DMP        NRF_GPIO_PIN_MAP(1, 0)    /**< Dump control */
+#define DR_PIEZO_PIN_P_OUT      NRF_GPIO_PIN_MAP(1, 7)    /**< Positive output */
+#define DR_PIEZO_PIN_N_OUT      NRF_GPIO_PIN_MAP(1, 6)    /**< Negative output */
+
+/*==============================================================================
+ * MUX control pins (echo signal path selection, 8 channels)
+ *   MUXA handles CH0..CH3, MUXB handles CH4..CH7.
+ *   Only one MUX is enabled at a time.
+ *============================================================================*/
+#define DR_PIEZO_EN_MUXA        NRF_GPIO_PIN_MAP(0, 21)  /**< MUXA Enable */
+#define DR_PIEZO_EN_MUXB        NRF_GPIO_PIN_MAP(0, 23)  /**< MUXB Enable */
+#define DR_PIEZO_MUX_SEL0       NRF_GPIO_PIN_MAP(1, 10)  /**< MUX Select 0 */
+#define DR_PIEZO_MUX_SEL1       NRF_GPIO_PIN_MAP(0, 28)  /**< MUX Select 1 */
+
+/*==============================================================================
+ * 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_MUX_SETTLING_US 1300       /**< MUX settling delay (us) */
+
+/*==============================================================================
+ * Power control
+ *============================================================================*/
+
+void dr_piezo_power_on(void);
+void dr_piezo_power_off(void);
+
+/** @return true if power is ON */
+bool dr_piezo_is_power_on(void);
+
+/*==============================================================================
+ * TX driver
+ *============================================================================*/
+
+void dr_piezo_init(void);
+void dr_piezo_uninit(void);
+void dr_piezo_burst(uint8_t cycles);
+void dr_piezo_pulse(void);
+void dr_piezo_enable(void);
+void dr_piezo_disable(void);
+bool dr_piezo_is_busy(void);
+void dr_piezo_set_frequency(uint32_t freq_hz);
+void dr_piezo_test_pins(void);
+void dr_piezo_mux_init(void);
+
+/**
+ * @brief Select piezo channel (0..7) via 8ch MUX
+ * @note MUX settling time: ~1.3 ms delay after switching
+ */
+void dr_piezo_select_channel(uint8_t channel);
+
+/*==============================================================================
+ * System functions (power + TX combined)
+ *============================================================================*/
+
+void dr_piezo_system_init(void);
+void dr_piezo_system_uninit(void);
+void dr_piezo_transmit(uint8_t cycles);
+
+/*==============================================================================
+ * Software burst — CPU NOP-based precise timing, no Timer/PPI
+ *
+ * Interrupts are disabled during burst for timing accuracy.
+ * Per-frequency functions (NOP count varies):
+ *============================================================================*/
+
+void dr_piezo_burst_sw(uint8_t cycles);          /**< 2.1 MHz (default) */
+void dr_piezo_burst_sw_18mhz(uint8_t cycles);   /**< 1.8 MHz */
+void dr_piezo_burst_sw_20mhz(uint8_t cycles);   /**< 2.0 MHz */
+void dr_piezo_burst_sw_22mhz(uint8_t cycles);   /**< 2.2 MHz */
+void dr_piezo_burst_sw_17mhz(uint8_t cycles);   /**< 1.7 MHz */
+void dr_piezo_burst_sw_19mhz(uint8_t cycles);   /**< 1.9 MHz */
+
+#endif /* DR_PIEZO_H */

project/ble_peripheral/ble_app_bladder_patch/measurement/temperature/tmp235_q1.c

@@ -0,0 +1,168 @@
+/*==============================================================================
+ * tmp235_q1.c - TMP235-Q1 analogue temperature sensor driver
+ *
+ * Reads the TMP235-Q1 analogue output via SAADC AIN3 and converts to deg C.
+ *
+ * Temperature conversion (piecewise linear, per datasheet):
+ *   Vout <= 1500 mV  (0..100 C)  : Ta = (Vout - 500)    / 10.0
+ *   Vout <= 1750 mV  (100..125 C): Ta = (Vout - 1500)    / 10.1 + 100
+ *   Vout <= 2000 mV  (125..150 C): Ta = (Vout - 1752.5)  / 10.6 + 125
+ *   Vout > 2000 mV               : out of sensor range
+ *============================================================================*/
+
+#include "sdk_common.h"
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <string.h>
+#include "nrf.h"
+#include "boards.h"
+#include "app_error.h"
+#include "nrf_drv_saadc.h"
+#include "ble_nus.h"
+#include "tmp235_q1.h"
+#include "main.h"
+#include "main_timer.h"
+#include "battery_saadc.h"
+#include "debug_print.h"
+
+/* SAADC internal reference (mV) */
+#define TMP235_REF_VOLTAGE_IN_MILLIVOLTS        600.0f
+/* 1/3 prescaling compensation (x6) */
+#define TMP235_PRE_SCALING_COMPENSATION         6.0f
+/* 12-bit ADC full scale */
+#define TMP235_ADC_RES_12BITS                   4096.0f
+
+/* Convert raw ADC value to TMP235 output voltage (mV) */
+#define TMP235_VOUT_IN_MILLI_VOLTS(ADC_VALUE)\
+        ((((ADC_VALUE) * TMP235_REF_VOLTAGE_IN_MILLIVOLTS) / TMP235_ADC_RES_12BITS) * TMP235_PRE_SCALING_COMPENSATION)
+
+static nrf_saadc_value_t adc_buf;
+extern char     ble_tx_buffer[BLE_NUS_MAX_DATA_LEN];
+extern uint8_t  ble_bin_buffer[BLE_NUS_MAX_DATA_LEN];
+
+extern which_cmd_t cmd_type_t;
+extern bool info4;
+extern bool go_temp;
+
+/* info4 mode: cached temperature (deg C x 100, integer) */
+volatile uint16_t info_temp;
+extern bool motion_raw_data_enabled;
+
+/* SAADC completion flag — used by all_sensors() to wait */
+volatile bool tmp235_saadc_done = false;
+
+
+/*==============================================================================
+ * tmp235_voltage_handler - SAADC conversion complete callback
+ *
+ * ADC value -> Vout (mV) -> temperature (deg C), then:
+ *   - info4 mode: store to info_temp (C x 100 integer)
+ *   - Normal mode: send rso: response over BLE or UART
+ *============================================================================*/
+void tmp235_voltage_handler(nrf_drv_saadc_evt_t const * p_event)
+{
+    float led_temp;
+    float led_temp_16;
+
+    if (p_event->type == NRF_DRV_SAADC_EVT_DONE)
+    {
+        nrf_saadc_value_t adc_result;
+        float tmp235_voltage_in_milli_volts = 0;
+
+        adc_result = p_event->data.done.p_buffer[0];
+
+        /* Release SAADC — shared with battery / pressure ADC */
+        nrf_drv_saadc_channel_uninit(0);
+        nrf_drv_saadc_uninit();
+
+        /* ADC -> TMP235 output voltage (mV) */
+        tmp235_voltage_in_milli_volts = TMP235_VOUT_IN_MILLI_VOLTS(adc_result);
+
+        /* Vout -> temperature (piecewise linear per datasheet) */
+        if(tmp235_voltage_in_milli_volts <= 1500)
+        {
+            /* 0..100 C: slope 10.0 mV/C, offset 500 mV */
+            led_temp = (tmp235_voltage_in_milli_volts - 500.0f) / 10.0f + 0.0f;
+        }
+        else if(tmp235_voltage_in_milli_volts <= 1750)
+        {
+            /* 100..125 C: slope 10.1 mV/C */
+            led_temp = (tmp235_voltage_in_milli_volts - 1500.0f) / 10.1f + 100.0f;
+        }
+        else if(tmp235_voltage_in_milli_volts <= 2000)
+        {
+            /* 125..150 C: slope 10.6 mV/C */
+            led_temp = (tmp235_voltage_in_milli_volts - 1752.5f) / 10.6f + 125.0f;
+        }
+        else
+        {
+            /* Out of sensor range (>150 C) */
+            DBG_PRINTF("ERR!!! Temperature is over 150c\r\n");
+        }
+
+        /* --- Safety check mode: pass temperature to battery module for judgment --- */
+        if (safety_check_mode == true)
+        {
+            safety_check_mode = false;
+            safety_check_complete(led_temp);
+        }
+
+        /* --- info4 mode: store value for mbb? bulk response --- */
+        else if (info4 == true)
+        {
+            info_temp = (uint16_t)(led_temp * 100);
+        }
+        else if (cmd_type_t == CMD_UART)
+        {
+            DBG_PRINTF("To%.2f\r\n\r\n", led_temp);
+        }
+        else if (cmd_type_t == CMD_BLE)
+        {
+            led_temp_16 = led_temp * 100;
+            single_format_data(ble_bin_buffer, "rso:", (uint16_t)led_temp_16);
+            dr_binary_tx_safe(ble_bin_buffer, 3);
+        }
+
+        tmp235_saadc_done = true;
+    }
+}
+
+
+/*==============================================================================
+ * tmp235_init - Initialise SAADC for TMP235 and start measurement
+ *
+ * AIN3, single-ended, 12-bit, 4x oversampling, burst enabled.
+ * Triggers sampling immediately; result arrives via tmp235_voltage_handler.
+ *============================================================================*/
+void tmp235_init(void)
+{
+    nrf_drv_saadc_config_t saadc_config = NRF_DRV_SAADC_DEFAULT_CONFIG;
+    saadc_config.resolution = NRF_SAADC_RESOLUTION_12BIT;
+    saadc_config.oversample = NRF_SAADC_OVERSAMPLE_4X;
+    ret_code_t err_code = nrf_drv_saadc_init(&saadc_config, tmp235_voltage_handler);
+    APP_ERROR_CHECK(err_code);
+
+    nrf_saadc_channel_config_t config = NRF_DRV_SAADC_DEFAULT_CHANNEL_CONFIG_SE(NRF_SAADC_INPUT_AIN3);
+    config.burst = NRF_SAADC_BURST_ENABLED;
+    err_code = nrf_drv_saadc_channel_init(0, &config);
+    APP_ERROR_CHECK(err_code);
+
+    err_code = nrf_drv_saadc_buffer_convert(&adc_buf, 1);
+    APP_ERROR_CHECK(err_code);
+
+    err_code = nrf_drv_saadc_sample();
+    APP_ERROR_CHECK(err_code);
+}
+
+
+/*==============================================================================
+ * tmp235_voltage_level_meas - External entry point for one-shot reading
+ *
+ * Calls tmp235_init() which both initialises and triggers sampling.
+ *============================================================================*/
+void tmp235_voltage_level_meas(void)
+{
+    tmp235_init();
+}

project/ble_peripheral/ble_app_bladder_patch/measurement/temperature/tmp235_q1.h

@@ -0,0 +1,22 @@
+/*==============================================================================
+ * tmp235_q1.h - TMP235-Q1 analogue temperature sensor driver interface
+ *
+ * Reads the TMP235-Q1 analogue voltage output via SAADC (AIN3) and converts
+ * it to temperature (deg C).
+ *
+ * Conversion: Ta(C) = (Vout_mV - 500) / 10.0   (valid 0..100 C)
+ *
+ * API:
+ *   tmp235_init()               : initialise SAADC + start measurement (internal)
+ *   tmp235_voltage_level_meas() : one-shot temperature reading (external wrapper)
+ *============================================================================*/
+
+#ifndef _TMP235_Q1_H_
+#define _TMP235_Q1_H_
+
+/* Initialise SAADC for TMP235 and start measurement (AIN3). */
+void tmp235_init(void);
+/* External entry point for a single temperature reading. */
+void tmp235_voltage_level_meas(void);
+
+#endif /* !_TMP235_Q1_H_ */

project/ble_peripheral/ble_app_bladder_patch/pca10056/s140/arm5_no_packs/Auto_FcArm_Cmd.inp

@@ -0,0 +1,3 @@
+..\..\..\..\..\..\..\pc_firm\dr_adc121s051\dr_adc121s051.c,
+..\..\..\..\..\..\..\pc_firm\dr_adc121s051\dr_adc121s051.h 
+TO nrf52840_xxaa.hex RTE NOPRINT

project/ble_peripheral/ble_app_bladder_patch/pca10056/s140/arm5_no_packs/EventRecorderStub.scvd

@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8"?>
+
+<component_viewer schemaVersion="0.1" xmlns:xs="http://www.w3.org/2001/XMLSchema-instance" xs:noNamespaceSchemaLocation="Component_Viewer.xsd">
+
+<component name="EventRecorderStub" version="1.0.0"/>       <!--name and version of the component-->
+  <events>
+  </events>
+
+</component_viewer>

project/ble_peripheral/ble_app_bladder_patch/pca10056/s140/arm5_no_packs/JLinkSettings.ini

@@ -0,0 +1,46 @@
+[BREAKPOINTS]
+ForceImpTypeAny = 0
+ShowInfoWin = 1
+EnableFlashBP = 2
+BPDuringExecution = 0
+[CFI]
+CFISize = 0x00
+CFIAddr = 0x00
+[CPU]
+MonModeVTableAddr = 0xFFFFFFFF
+MonModeDebug = 0
+MaxNumAPs = 0
+LowPowerHandlingMode = 0
+OverrideMemMap = 0
+AllowSimulation = 1
+ScriptFile=""
+[FLASH]
+RMWThreshold = 0x400
+Loaders=""
+EraseType = 0x00
+CacheExcludeSize = 0x00
+CacheExcludeAddr = 0x00
+MinNumBytesFlashDL = 0
+SkipProgOnCRCMatch = 1
+VerifyDownload = 1
+AllowCaching = 1
+EnableFlashDL = 2
+Override = 0
+Device="ARM7"
+[GENERAL]
+WorkRAMSize = 0x00
+WorkRAMAddr = 0x00
+RAMUsageLimit = 0x00
+[SWO]
+SWOLogFile=""
+[MEM]
+RdOverrideOrMask = 0x00
+RdOverrideAndMask = 0xFFFFFFFF
+RdOverrideAddr = 0xFFFFFFFF
+WrOverrideOrMask = 0x00
+WrOverrideAndMask = 0xFFFFFFFF
+WrOverrideAddr = 0xFFFFFFFF
+[RAM]
+VerifyDownload = 0x00
+[DYN_MEM_MAP]
+NumUserRegion = 0x00

project/ble_peripheral/ble_app_bladder_patch/pca10056/s140/arm5_no_packs/RTE/Device/nRF52840_xxAA/arm_startup_nrf52840.s

@@ -0,0 +1,383 @@
+; Copyright (c) 2009-2021 ARM Limited. All rights reserved.
+; 
+;     SPDX-License-Identifier: Apache-2.0
+; 
+; Licensed under the Apache License, Version 2.0 (the License); you may
+; not use this file except in compliance with the License.
+; You may obtain a copy of the License at
+; 
+;     www.apache.org/licenses/LICENSE-2.0
+; 
+; Unless required by applicable law or agreed to in writing, software
+; distributed under the License is distributed on an AS IS BASIS, WITHOUT
+; WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+; See the License for the specific language governing permissions and
+; limitations under the License.
+; 
+; NOTICE: This file has been modified by Nordic Semiconductor ASA.
+
+                IF :DEF: __STARTUP_CONFIG
+#ifdef  __STARTUP_CONFIG
+#include "startup_config.h"
+#ifndef __STARTUP_CONFIG_STACK_ALIGNEMENT
+#define __STARTUP_CONFIG_STACK_ALIGNEMENT 3
+#endif
+#endif
+                ENDIF
+
+                IF :DEF: __STARTUP_CONFIG
+Stack_Size      EQU __STARTUP_CONFIG_STACK_SIZE
+                ELIF :DEF: __STACK_SIZE
+Stack_Size      EQU __STACK_SIZE
+                ELSE
+Stack_Size      EQU 16384
+                ENDIF
+                
+                IF :DEF: __STARTUP_CONFIG
+Stack_Align     EQU __STARTUP_CONFIG_STACK_ALIGNEMENT
+                ELSE
+Stack_Align     EQU 3
+                ENDIF
+
+                AREA    STACK, NOINIT, READWRITE, ALIGN=Stack_Align
+Stack_Mem       SPACE   Stack_Size
+__initial_sp
+
+                IF :DEF: __STARTUP_CONFIG
+Heap_Size       EQU __STARTUP_CONFIG_HEAP_SIZE
+                ELIF :DEF: __HEAP_SIZE
+Heap_Size       EQU __HEAP_SIZE
+                ELSE
+Heap_Size       EQU 16384
+                ENDIF
+
+                AREA    HEAP, NOINIT, READWRITE, ALIGN=3
+__heap_base
+Heap_Mem        SPACE   Heap_Size
+__heap_limit
+
+                PRESERVE8
+                THUMB
+
+; Vector Table Mapped to Address 0 at Reset
+
+                AREA    RESET, DATA, READONLY
+                EXPORT  __Vectors
+                EXPORT  __Vectors_End
+                EXPORT  __Vectors_Size
+
+__Vectors       DCD     __initial_sp              ; Top of Stack
+                DCD     Reset_Handler
+                DCD     NMI_Handler
+                DCD     HardFault_Handler
+                DCD     MemoryManagement_Handler
+                DCD     BusFault_Handler
+                DCD     UsageFault_Handler
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     SVC_Handler
+                DCD     DebugMon_Handler
+                DCD     0                         ; Reserved
+                DCD     PendSV_Handler
+                DCD     SysTick_Handler
+
+                ; External Interrupts
+                DCD     POWER_CLOCK_IRQHandler
+                DCD     RADIO_IRQHandler
+                DCD     UARTE0_UART0_IRQHandler
+                DCD     SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0_IRQHandler
+                DCD     SPIM1_SPIS1_TWIM1_TWIS1_SPI1_TWI1_IRQHandler
+                DCD     NFCT_IRQHandler
+                DCD     GPIOTE_IRQHandler
+                DCD     SAADC_IRQHandler
+                DCD     TIMER0_IRQHandler
+                DCD     TIMER1_IRQHandler
+                DCD     TIMER2_IRQHandler
+                DCD     RTC0_IRQHandler
+                DCD     TEMP_IRQHandler
+                DCD     RNG_IRQHandler
+                DCD     ECB_IRQHandler
+                DCD     CCM_AAR_IRQHandler
+                DCD     WDT_IRQHandler
+                DCD     RTC1_IRQHandler
+                DCD     QDEC_IRQHandler
+                DCD     COMP_LPCOMP_IRQHandler
+                DCD     SWI0_EGU0_IRQHandler
+                DCD     SWI1_EGU1_IRQHandler
+                DCD     SWI2_EGU2_IRQHandler
+                DCD     SWI3_EGU3_IRQHandler
+                DCD     SWI4_EGU4_IRQHandler
+                DCD     SWI5_EGU5_IRQHandler
+                DCD     TIMER3_IRQHandler
+                DCD     TIMER4_IRQHandler
+                DCD     PWM0_IRQHandler
+                DCD     PDM_IRQHandler
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     MWU_IRQHandler
+                DCD     PWM1_IRQHandler
+                DCD     PWM2_IRQHandler
+                DCD     SPIM2_SPIS2_SPI2_IRQHandler
+                DCD     RTC2_IRQHandler
+                DCD     I2S_IRQHandler
+                DCD     FPU_IRQHandler
+                DCD     USBD_IRQHandler
+                DCD     UARTE1_IRQHandler
+                DCD     QSPI_IRQHandler
+                DCD     CRYPTOCELL_IRQHandler
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     PWM3_IRQHandler
+                DCD     0                         ; Reserved
+                DCD     SPIM3_IRQHandler
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+
+__Vectors_End
+
+__Vectors_Size  EQU     __Vectors_End - __Vectors
+
+                AREA    |.text|, CODE, READONLY
+
+; Reset Handler
+
+
+Reset_Handler   PROC
+                EXPORT  Reset_Handler             [WEAK]
+                IMPORT  SystemInit
+                IMPORT  __main
+
+
+                LDR     R0, =SystemInit
+                BLX     R0
+                LDR     R0, =__main
+                BX      R0
+                ENDP
+
+; Dummy Exception Handlers (infinite loops which can be modified)
+
+NMI_Handler     PROC
+                EXPORT  NMI_Handler               [WEAK]
+                B       .
+                ENDP
+HardFault_Handler\
+                PROC
+                EXPORT  HardFault_Handler         [WEAK]
+                B       .
+                ENDP
+MemoryManagement_Handler\
+                PROC
+                EXPORT  MemoryManagement_Handler  [WEAK]
+                B       .
+                ENDP
+BusFault_Handler\
+                PROC
+                EXPORT  BusFault_Handler          [WEAK]
+                B       .
+                ENDP
+UsageFault_Handler\
+                PROC
+                EXPORT  UsageFault_Handler        [WEAK]
+                B       .
+                ENDP
+SVC_Handler     PROC
+                EXPORT  SVC_Handler               [WEAK]
+                B       .
+                ENDP
+DebugMon_Handler\
+                PROC
+                EXPORT  DebugMon_Handler          [WEAK]
+                B       .
+                ENDP
+PendSV_Handler  PROC
+                EXPORT  PendSV_Handler            [WEAK]
+                B       .
+                ENDP
+SysTick_Handler PROC
+                EXPORT  SysTick_Handler           [WEAK]
+                B       .
+                ENDP
+
+Default_Handler PROC
+
+                EXPORT   POWER_CLOCK_IRQHandler [WEAK]
+                EXPORT   RADIO_IRQHandler [WEAK]
+                EXPORT   UARTE0_UART0_IRQHandler [WEAK]
+                EXPORT   SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0_IRQHandler [WEAK]
+                EXPORT   SPIM1_SPIS1_TWIM1_TWIS1_SPI1_TWI1_IRQHandler [WEAK]
+                EXPORT   NFCT_IRQHandler [WEAK]
+                EXPORT   GPIOTE_IRQHandler [WEAK]
+                EXPORT   SAADC_IRQHandler [WEAK]
+                EXPORT   TIMER0_IRQHandler [WEAK]
+                EXPORT   TIMER1_IRQHandler [WEAK]
+                EXPORT   TIMER2_IRQHandler [WEAK]
+                EXPORT   RTC0_IRQHandler [WEAK]
+                EXPORT   TEMP_IRQHandler [WEAK]
+                EXPORT   RNG_IRQHandler [WEAK]
+                EXPORT   ECB_IRQHandler [WEAK]
+                EXPORT   CCM_AAR_IRQHandler [WEAK]
+                EXPORT   WDT_IRQHandler [WEAK]
+                EXPORT   RTC1_IRQHandler [WEAK]
+                EXPORT   QDEC_IRQHandler [WEAK]
+                EXPORT   COMP_LPCOMP_IRQHandler [WEAK]
+                EXPORT   SWI0_EGU0_IRQHandler [WEAK]
+                EXPORT   SWI1_EGU1_IRQHandler [WEAK]
+                EXPORT   SWI2_EGU2_IRQHandler [WEAK]
+                EXPORT   SWI3_EGU3_IRQHandler [WEAK]
+                EXPORT   SWI4_EGU4_IRQHandler [WEAK]
+                EXPORT   SWI5_EGU5_IRQHandler [WEAK]
+                EXPORT   TIMER3_IRQHandler [WEAK]
+                EXPORT   TIMER4_IRQHandler [WEAK]
+                EXPORT   PWM0_IRQHandler [WEAK]
+                EXPORT   PDM_IRQHandler [WEAK]
+                EXPORT   MWU_IRQHandler [WEAK]
+                EXPORT   PWM1_IRQHandler [WEAK]
+                EXPORT   PWM2_IRQHandler [WEAK]
+                EXPORT   SPIM2_SPIS2_SPI2_IRQHandler [WEAK]
+                EXPORT   RTC2_IRQHandler [WEAK]
+                EXPORT   I2S_IRQHandler [WEAK]
+                EXPORT   FPU_IRQHandler [WEAK]
+                EXPORT   USBD_IRQHandler [WEAK]
+                EXPORT   UARTE1_IRQHandler [WEAK]
+                EXPORT   QSPI_IRQHandler [WEAK]
+                EXPORT   CRYPTOCELL_IRQHandler [WEAK]
+                EXPORT   PWM3_IRQHandler [WEAK]
+                EXPORT   SPIM3_IRQHandler [WEAK]
+POWER_CLOCK_IRQHandler
+RADIO_IRQHandler
+UARTE0_UART0_IRQHandler
+SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0_IRQHandler
+SPIM1_SPIS1_TWIM1_TWIS1_SPI1_TWI1_IRQHandler
+NFCT_IRQHandler
+GPIOTE_IRQHandler
+SAADC_IRQHandler
+TIMER0_IRQHandler
+TIMER1_IRQHandler
+TIMER2_IRQHandler
+RTC0_IRQHandler
+TEMP_IRQHandler
+RNG_IRQHandler
+ECB_IRQHandler
+CCM_AAR_IRQHandler
+WDT_IRQHandler
+RTC1_IRQHandler
+QDEC_IRQHandler
+COMP_LPCOMP_IRQHandler
+SWI0_EGU0_IRQHandler
+SWI1_EGU1_IRQHandler
+SWI2_EGU2_IRQHandler
+SWI3_EGU3_IRQHandler
+SWI4_EGU4_IRQHandler
+SWI5_EGU5_IRQHandler
+TIMER3_IRQHandler
+TIMER4_IRQHandler
+PWM0_IRQHandler
+PDM_IRQHandler
+MWU_IRQHandler
+PWM1_IRQHandler
+PWM2_IRQHandler
+SPIM2_SPIS2_SPI2_IRQHandler
+RTC2_IRQHandler
+I2S_IRQHandler
+FPU_IRQHandler
+USBD_IRQHandler
+UARTE1_IRQHandler
+QSPI_IRQHandler
+CRYPTOCELL_IRQHandler
+PWM3_IRQHandler
+SPIM3_IRQHandler
+                B .
+                ENDP
+                ALIGN
+
+; User Initial Stack & Heap
+
+                IF      :DEF:__MICROLIB
+
+                EXPORT  __initial_sp
+                EXPORT  __heap_base
+                EXPORT  __heap_limit
+
+                ELSE
+
+                IMPORT  __use_two_region_memory
+                EXPORT  __user_initial_stackheap
+
+__user_initial_stackheap PROC
+
+                LDR     R0, = Heap_Mem
+                LDR     R1, = (Stack_Mem + Stack_Size)
+                LDR     R2, = (Heap_Mem + Heap_Size)
+                LDR     R3, = Stack_Mem
+                BX      LR
+                ENDP
+
+                ALIGN
+
+                ENDIF
+
+                END

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

@@ -0,0 +1,329 @@
+/*
+
+Copyright (c) 2009-2021 ARM Limited. All rights reserved.
+
+    SPDX-License-Identifier: Apache-2.0
+
+Licensed under the Apache License, Version 2.0 (the License); you may
+not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an AS IS BASIS, WITHOUT
+WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+
+NOTICE: This file has been modified by Nordic Semiconductor ASA.
+
+*/
+
+/* NOTE: Template files (including this one) are application specific and therefore expected to
+   be copied into the application project folder prior to its use! */
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "nrf.h"
+#include "nrf_peripherals.h"
+#include "nrf52_erratas.h"
+#include "system_nrf52.h"
+#include "system_nrf52_approtect.h"
+
+#define __SYSTEM_CLOCK_64M      (64000000UL)
+
+
+#if defined ( __CC_ARM )
+    uint32_t SystemCoreClock __attribute__((used)) = __SYSTEM_CLOCK_64M;
+#elif defined ( __ICCARM__ )
+    __root uint32_t SystemCoreClock = __SYSTEM_CLOCK_64M;
+#elif defined ( __GNUC__ )
+    uint32_t SystemCoreClock __attribute__((used)) = __SYSTEM_CLOCK_64M;
+#endif
+
+/* Select correct reset pin */
+/* Handle DEVELOP_IN-targets first as they take precedence over the later macros */
+#if    defined (DEVELOP_IN_NRF52805) \
+    || defined (DEVELOP_IN_NRF52810) \
+    || defined (DEVELOP_IN_NRF52811) \
+    || defined (DEVELOP_IN_NRF52832)
+    #define RESET_PIN 21
+#elif  defined (DEVELOP_IN_NRF52820) \
+    || defined (DEVELOP_IN_NRF52833) \
+    || defined (DEVELOP_IN_NRF52840)
+    #define RESET_PIN 18
+#elif  defined (NRF52805_XXAA) \
+    || defined (NRF52810_XXAA) \
+    || defined (NRF52811_XXAA) \
+    || defined (NRF52832_XXAA) \
+    || defined (NRF52832_XXAB)
+    #define RESET_PIN 21
+#elif  defined (NRF52820_XXAA) \
+    || defined (NRF52833_XXAA) \
+    || defined (NRF52840_XXAA)
+    #define RESET_PIN 18
+#else
+    #error "A supported device macro must be defined."
+#endif
+
+/* -- NVMC utility functions -- */
+/* Waits until NVMC is done with the current pending action */
+void nvmc_wait(void)
+{
+    while (NRF_NVMC->READY == NVMC_READY_READY_Busy){}
+}
+
+/*  Configure the NVMC to "mode".
+    Mode must be an enumerator of field NVMC_CONFIG_WEN */
+void nvmc_config(uint32_t mode)
+{
+    NRF_NVMC->CONFIG = mode << NVMC_CONFIG_WEN_Pos;
+    nvmc_wait();
+}
+
+void SystemCoreClockUpdate(void)
+{
+    SystemCoreClock = __SYSTEM_CLOCK_64M;
+}
+
+void SystemInit(void)
+{
+    /* 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)
+        CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
+        NRF_CLOCK->TRACECONFIG |= CLOCK_TRACECONFIG_TRACEMUX_Serial << CLOCK_TRACECONFIG_TRACEMUX_Pos;
+        NRF_P0->PIN_CNF[18] = (GPIO_PIN_CNF_DRIVE_H0H1 << GPIO_PIN_CNF_DRIVE_Pos) | (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos) | (GPIO_PIN_CNF_DIR_Output << GPIO_PIN_CNF_DIR_Pos);
+    #endif
+
+    /* Enable Trace functionality. If ENABLE_TRACE is not defined, TRACE pins will be used as GPIOs (see Product
+       Specification to see which ones). */
+    #if defined (ENABLE_TRACE) && defined(CLOCK_TRACECONFIG_TRACEMUX_Pos)
+        CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
+        NRF_CLOCK->TRACECONFIG |= CLOCK_TRACECONFIG_TRACEMUX_Parallel << CLOCK_TRACECONFIG_TRACEMUX_Pos;
+        NRF_P0->PIN_CNF[14] = (GPIO_PIN_CNF_DRIVE_H0H1 << GPIO_PIN_CNF_DRIVE_Pos) | (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos) | (GPIO_PIN_CNF_DIR_Output << GPIO_PIN_CNF_DIR_Pos);
+        NRF_P0->PIN_CNF[15] = (GPIO_PIN_CNF_DRIVE_H0H1 << GPIO_PIN_CNF_DRIVE_Pos) | (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos) | (GPIO_PIN_CNF_DIR_Output << GPIO_PIN_CNF_DIR_Pos);
+        NRF_P0->PIN_CNF[16] = (GPIO_PIN_CNF_DRIVE_H0H1 << GPIO_PIN_CNF_DRIVE_Pos) | (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos) | (GPIO_PIN_CNF_DIR_Output << GPIO_PIN_CNF_DIR_Pos);
+        NRF_P0->PIN_CNF[18] = (GPIO_PIN_CNF_DRIVE_H0H1 << GPIO_PIN_CNF_DRIVE_Pos) | (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos) | (GPIO_PIN_CNF_DIR_Output << GPIO_PIN_CNF_DIR_Pos);
+        NRF_P0->PIN_CNF[20] = (GPIO_PIN_CNF_DRIVE_H0H1 << GPIO_PIN_CNF_DRIVE_Pos) | (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos) | (GPIO_PIN_CNF_DIR_Output << GPIO_PIN_CNF_DIR_Pos);
+    #endif
+
+    #if NRF52_ERRATA_12_ENABLE_WORKAROUND
+        /* Workaround for Errata 12 "COMP: Reference ladder not correctly calibrated" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp */
+        if (nrf52_errata_12()){
+            *(volatile uint32_t *)0x40013540 = (*(uint32_t *)0x10000324 & 0x00001F00) >> 8;
+        }
+    #endif
+
+    #if NRF52_ERRATA_16_ENABLE_WORKAROUND
+        /* Workaround for Errata 16 "System: RAM may be corrupt on wakeup from CPU IDLE" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp */
+        if (nrf52_errata_16()){
+            *(volatile uint32_t *)0x4007C074 = 3131961357ul;
+        }
+    #endif
+
+    #if NRF52_ERRATA_31_ENABLE_WORKAROUND
+        /* Workaround for Errata 31 "CLOCK: Calibration values are not correctly loaded from FICR at reset" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp */
+        if (nrf52_errata_31()){
+            *(volatile uint32_t *)0x4000053C = ((*(volatile uint32_t *)0x10000244) & 0x0000E000) >> 13;
+        }
+    #endif
+
+    #if NRF52_ERRATA_32_ENABLE_WORKAROUND
+        /* Workaround for Errata 32 "DIF: Debug session automatically enables TracePort pins" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp */
+        if (nrf52_errata_32()){
+            CoreDebug->DEMCR &= ~CoreDebug_DEMCR_TRCENA_Msk;
+        }
+    #endif
+
+    #if NRF52_ERRATA_36_ENABLE_WORKAROUND
+        /* Workaround for Errata 36 "CLOCK: Some registers are not reset when expected" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_36()){
+            NRF_CLOCK->EVENTS_DONE = 0;
+            NRF_CLOCK->EVENTS_CTTO = 0;
+            NRF_CLOCK->CTIV = 0;
+        }
+    #endif
+
+    #if NRF52_ERRATA_37_ENABLE_WORKAROUND
+        /* Workaround for Errata 37 "RADIO: Encryption engine is slow by default" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_37()){
+            *(volatile uint32_t *)0x400005A0 = 0x3;
+        }
+    #endif
+
+    #if NRF52_ERRATA_57_ENABLE_WORKAROUND
+        /* Workaround for Errata 57 "NFCT: NFC Modulation amplitude" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_57()){
+            *(volatile uint32_t *)0x40005610 = 0x00000005;
+            *(volatile uint32_t *)0x40005688 = 0x00000001;
+            *(volatile uint32_t *)0x40005618 = 0x00000000;
+            *(volatile uint32_t *)0x40005614 = 0x0000003F;
+        }
+    #endif
+
+    #if NRF52_ERRATA_66_ENABLE_WORKAROUND
+        /* Workaround for Errata 66 "TEMP: Linearity specification not met with default settings" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_66()){
+            NRF_TEMP->A0 = NRF_FICR->TEMP.A0;
+            NRF_TEMP->A1 = NRF_FICR->TEMP.A1;
+            NRF_TEMP->A2 = NRF_FICR->TEMP.A2;
+            NRF_TEMP->A3 = NRF_FICR->TEMP.A3;
+            NRF_TEMP->A4 = NRF_FICR->TEMP.A4;
+            NRF_TEMP->A5 = NRF_FICR->TEMP.A5;
+            NRF_TEMP->B0 = NRF_FICR->TEMP.B0;
+            NRF_TEMP->B1 = NRF_FICR->TEMP.B1;
+            NRF_TEMP->B2 = NRF_FICR->TEMP.B2;
+            NRF_TEMP->B3 = NRF_FICR->TEMP.B3;
+            NRF_TEMP->B4 = NRF_FICR->TEMP.B4;
+            NRF_TEMP->B5 = NRF_FICR->TEMP.B5;
+            NRF_TEMP->T0 = NRF_FICR->TEMP.T0;
+            NRF_TEMP->T1 = NRF_FICR->TEMP.T1;
+            NRF_TEMP->T2 = NRF_FICR->TEMP.T2;
+            NRF_TEMP->T3 = NRF_FICR->TEMP.T3;
+            NRF_TEMP->T4 = NRF_FICR->TEMP.T4;
+        }
+    #endif
+
+    #if NRF52_ERRATA_98_ENABLE_WORKAROUND
+        /* Workaround for Errata 98 "NFCT: Not able to communicate with the peer" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_98()){
+            *(volatile uint32_t *)0x4000568Cul = 0x00038148ul;
+        }
+    #endif
+
+    #if NRF52_ERRATA_103_ENABLE_WORKAROUND && defined(CCM_MAXPACKETSIZE_MAXPACKETSIZE_Pos)
+        /* Workaround for Errata 103 "CCM: Wrong reset value of CCM MAXPACKETSIZE" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_103()){
+            NRF_CCM->MAXPACKETSIZE = 0xFBul;
+        }
+    #endif
+
+    #if NRF52_ERRATA_108_ENABLE_WORKAROUND
+        /* Workaround for Errata 108 "RAM: RAM content cannot be trusted upon waking up from System ON Idle or System OFF mode" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_108()){
+            *(volatile uint32_t *)0x40000EE4ul = *(volatile uint32_t *)0x10000258ul & 0x0000004Ful;
+        }
+    #endif
+
+    #if NRF52_ERRATA_115_ENABLE_WORKAROUND
+        /* Workaround for Errata 115 "RAM: RAM content cannot be trusted upon waking up from System ON Idle or System OFF mode" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_115()){
+            *(volatile uint32_t *)0x40000EE4 = (*(volatile uint32_t *)0x40000EE4 & 0xFFFFFFF0) | (*(uint32_t *)0x10000258 & 0x0000000F);
+        }
+    #endif
+
+    #if NRF52_ERRATA_120_ENABLE_WORKAROUND
+        /* Workaround for Errata 120 "QSPI: Data read or written is corrupted" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_120()){
+            *(volatile uint32_t *)0x40029640ul = 0x200ul;
+        }
+    #endif
+
+    #if NRF52_ERRATA_136_ENABLE_WORKAROUND
+        /* Workaround for Errata 136 "System: Bits in RESETREAS are set when they should not be" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_136()){
+            if (NRF_POWER->RESETREAS & POWER_RESETREAS_RESETPIN_Msk){
+                NRF_POWER->RESETREAS =  ~POWER_RESETREAS_RESETPIN_Msk;
+            }
+        }
+    #endif
+
+    #if NRF52_ERRATA_182_ENABLE_WORKAROUND
+        /* Workaround for Errata 182 "RADIO: Fixes for anomalies #102, #106, and #107 do not take effect" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_182()){
+            *(volatile uint32_t *) 0x4000173C |= (0x1 << 10);
+        }
+    #endif
+
+    #if NRF52_ERRATA_217_ENABLE_WORKAROUND
+        /* Workaround for Errata 217 "RAM: RAM content cannot be trusted upon waking up from System ON Idle or System OFF mode" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_217()){
+            *(volatile uint32_t *)0x40000EE4ul |= 0x0000000Ful;
+        }
+    #endif
+
+    /* Enable the FPU if the compiler used floating point unit instructions. __FPU_USED is a MACRO defined by the
+     * compiler. Since the FPU consumes energy, remember to disable FPU use in the compiler if floating point unit
+     * operations are not used in your code. */
+    #if (__FPU_USED == 1)
+        SCB->CPACR |= (3UL << 20) | (3UL << 22);
+        __DSB();
+        __ISB();
+    #endif
+
+    nrf52_handle_approtect();
+
+    #if NRF52_CONFIGURATION_249_ENABLE && (defined(NRF52805_XXAA) || defined(NRF52810_XXAA) || defined(NRF52811_XXAA))
+        if (nrf52_configuration_249() && (NRF_UICR->NRFMDK[0] == 0xFFFFFFFF || NRF_UICR->NRFMDK[1] == 0xFFFFFFFF))
+        {
+            nvmc_config(NVMC_CONFIG_WEN_Wen);
+            NRF_UICR->NRFMDK[0] = 0;
+            nvmc_wait();
+            NRF_UICR->NRFMDK[1] = 0;
+            nvmc_wait();
+            nvmc_config(NVMC_CONFIG_WEN_Ren);
+        }
+    #endif
+
+    /* Configure NFCT pins as GPIOs if NFCT is not to be used in your code. If CONFIG_NFCT_PINS_AS_GPIOS is not defined,
+       two GPIOs (see Product Specification to see which ones) will be reserved for NFC and will not be available as
+       normal GPIOs. */
+    #if defined (CONFIG_NFCT_PINS_AS_GPIOS) && defined(NFCT_PRESENT)
+        if ((NRF_UICR->NFCPINS & UICR_NFCPINS_PROTECT_Msk) == (UICR_NFCPINS_PROTECT_NFC << UICR_NFCPINS_PROTECT_Pos)){
+            nvmc_config(NVMC_CONFIG_WEN_Wen);
+            NRF_UICR->NFCPINS &= ~UICR_NFCPINS_PROTECT_Msk;
+            nvmc_wait();
+            nvmc_config(NVMC_CONFIG_WEN_Ren);
+            NVIC_SystemReset();
+        }
+    #endif
+
+    /* Configure GPIO pads as pPin Reset pin if Pin Reset capabilities desired. If CONFIG_GPIO_AS_PINRESET is not
+      defined, pin reset will not be available. One GPIO (see Product Specification to see which one) will then be
+      reserved for PinReset and not available as normal GPIO. */
+    #if defined (CONFIG_GPIO_AS_PINRESET)
+        if (((NRF_UICR->PSELRESET[0] & UICR_PSELRESET_CONNECT_Msk) != (UICR_PSELRESET_CONNECT_Connected << UICR_PSELRESET_CONNECT_Pos)) ||
+            ((NRF_UICR->PSELRESET[1] & UICR_PSELRESET_CONNECT_Msk) != (UICR_PSELRESET_CONNECT_Connected << UICR_PSELRESET_CONNECT_Pos))){
+            nvmc_config(NVMC_CONFIG_WEN_Wen);
+            NRF_UICR->PSELRESET[0] = RESET_PIN;
+            nvmc_wait();
+            NRF_UICR->PSELRESET[1] = RESET_PIN;
+            nvmc_wait();
+            nvmc_config(NVMC_CONFIG_WEN_Ren);
+            NVIC_SystemReset();
+        }
+    #endif
+
+    /* When developing for nRF52810 on an nRF52832, or nRF52811 on an nRF52840,
+        make sure NFC pins are mapped as GPIO. */
+    #if    defined (DEVELOP_IN_NRF52832) && defined(NRF52810_XXAA) \
+        || defined (DEVELOP_IN_NRF52840) && defined(NRF52811_XXAA)
+        if ((*((uint32_t *)0x1000120C) & (1 << 0)) != 0){
+            nvmc_config(NVMC_CONFIG_WEN_Wen);
+            *((uint32_t *)0x1000120C) = 0;
+            nvmc_wait();
+            nvmc_config(NVMC_CONFIG_WEN_Ren);
+            NVIC_SystemReset();
+        }
+    #endif
+
+    SystemCoreClockUpdate();
+}

project/ble_peripheral/ble_app_bladder_patch/pca10056/s140/arm5_no_packs/RTE/Device/nRF52840_xxAA/system_nrf52.c.base@8.44.1

@@ -0,0 +1,329 @@
+/*
+
+Copyright (c) 2009-2021 ARM Limited. All rights reserved.
+
+    SPDX-License-Identifier: Apache-2.0
+
+Licensed under the Apache License, Version 2.0 (the License); you may
+not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an AS IS BASIS, WITHOUT
+WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+
+NOTICE: This file has been modified by Nordic Semiconductor ASA.
+
+*/
+
+/* NOTE: Template files (including this one) are application specific and therefore expected to
+   be copied into the application project folder prior to its use! */
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "nrf.h"
+#include "nrf_peripherals.h"
+#include "nrf52_erratas.h"
+#include "system_nrf52.h"
+#include "system_nrf52_approtect.h"
+
+#define __SYSTEM_CLOCK_64M      (64000000UL)
+
+
+#if defined ( __CC_ARM )
+    uint32_t SystemCoreClock __attribute__((used)) = __SYSTEM_CLOCK_64M;
+#elif defined ( __ICCARM__ )
+    __root uint32_t SystemCoreClock = __SYSTEM_CLOCK_64M;
+#elif defined ( __GNUC__ )
+    uint32_t SystemCoreClock __attribute__((used)) = __SYSTEM_CLOCK_64M;
+#endif
+
+/* Select correct reset pin */
+/* Handle DEVELOP_IN-targets first as they take precedence over the later macros */
+#if    defined (DEVELOP_IN_NRF52805) \
+    || defined (DEVELOP_IN_NRF52810) \
+    || defined (DEVELOP_IN_NRF52811) \
+    || defined (DEVELOP_IN_NRF52832)
+    #define RESET_PIN 21
+#elif  defined (DEVELOP_IN_NRF52820) \
+    || defined (DEVELOP_IN_NRF52833) \
+    || defined (DEVELOP_IN_NRF52840)
+    #define RESET_PIN 18
+#elif  defined (NRF52805_XXAA) \
+    || defined (NRF52810_XXAA) \
+    || defined (NRF52811_XXAA) \
+    || defined (NRF52832_XXAA) \
+    || defined (NRF52832_XXAB)
+    #define RESET_PIN 21
+#elif  defined (NRF52820_XXAA) \
+    || defined (NRF52833_XXAA) \
+    || defined (NRF52840_XXAA)
+    #define RESET_PIN 18
+#else
+    #error "A supported device macro must be defined."
+#endif
+
+/* -- NVMC utility functions -- */
+/* Waits until NVMC is done with the current pending action */
+void nvmc_wait(void)
+{
+    while (NRF_NVMC->READY == NVMC_READY_READY_Busy){}
+}
+
+/*  Configure the NVMC to "mode".
+    Mode must be an enumerator of field NVMC_CONFIG_WEN */
+void nvmc_config(uint32_t mode)
+{
+    NRF_NVMC->CONFIG = mode << NVMC_CONFIG_WEN_Pos;
+    nvmc_wait();
+}
+
+void SystemCoreClockUpdate(void)
+{
+    SystemCoreClock = __SYSTEM_CLOCK_64M;
+}
+
+void SystemInit(void)
+{
+    /* 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)
+        CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
+        NRF_CLOCK->TRACECONFIG |= CLOCK_TRACECONFIG_TRACEMUX_Serial << CLOCK_TRACECONFIG_TRACEMUX_Pos;
+        NRF_P0->PIN_CNF[18] = (GPIO_PIN_CNF_DRIVE_H0H1 << GPIO_PIN_CNF_DRIVE_Pos) | (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos) | (GPIO_PIN_CNF_DIR_Output << GPIO_PIN_CNF_DIR_Pos);
+    #endif
+
+    /* Enable Trace functionality. If ENABLE_TRACE is not defined, TRACE pins will be used as GPIOs (see Product
+       Specification to see which ones). */
+    #if defined (ENABLE_TRACE) && defined(CLOCK_TRACECONFIG_TRACEMUX_Pos)
+        CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
+        NRF_CLOCK->TRACECONFIG |= CLOCK_TRACECONFIG_TRACEMUX_Parallel << CLOCK_TRACECONFIG_TRACEMUX_Pos;
+        NRF_P0->PIN_CNF[14] = (GPIO_PIN_CNF_DRIVE_H0H1 << GPIO_PIN_CNF_DRIVE_Pos) | (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos) | (GPIO_PIN_CNF_DIR_Output << GPIO_PIN_CNF_DIR_Pos);
+        NRF_P0->PIN_CNF[15] = (GPIO_PIN_CNF_DRIVE_H0H1 << GPIO_PIN_CNF_DRIVE_Pos) | (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos) | (GPIO_PIN_CNF_DIR_Output << GPIO_PIN_CNF_DIR_Pos);
+        NRF_P0->PIN_CNF[16] = (GPIO_PIN_CNF_DRIVE_H0H1 << GPIO_PIN_CNF_DRIVE_Pos) | (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos) | (GPIO_PIN_CNF_DIR_Output << GPIO_PIN_CNF_DIR_Pos);
+        NRF_P0->PIN_CNF[18] = (GPIO_PIN_CNF_DRIVE_H0H1 << GPIO_PIN_CNF_DRIVE_Pos) | (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos) | (GPIO_PIN_CNF_DIR_Output << GPIO_PIN_CNF_DIR_Pos);
+        NRF_P0->PIN_CNF[20] = (GPIO_PIN_CNF_DRIVE_H0H1 << GPIO_PIN_CNF_DRIVE_Pos) | (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos) | (GPIO_PIN_CNF_DIR_Output << GPIO_PIN_CNF_DIR_Pos);
+    #endif
+
+    #if NRF52_ERRATA_12_ENABLE_WORKAROUND
+        /* Workaround for Errata 12 "COMP: Reference ladder not correctly calibrated" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp */
+        if (nrf52_errata_12()){
+            *(volatile uint32_t *)0x40013540 = (*(uint32_t *)0x10000324 & 0x00001F00) >> 8;
+        }
+    #endif
+
+    #if NRF52_ERRATA_16_ENABLE_WORKAROUND
+        /* Workaround for Errata 16 "System: RAM may be corrupt on wakeup from CPU IDLE" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp */
+        if (nrf52_errata_16()){
+            *(volatile uint32_t *)0x4007C074 = 3131961357ul;
+        }
+    #endif
+
+    #if NRF52_ERRATA_31_ENABLE_WORKAROUND
+        /* Workaround for Errata 31 "CLOCK: Calibration values are not correctly loaded from FICR at reset" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp */
+        if (nrf52_errata_31()){
+            *(volatile uint32_t *)0x4000053C = ((*(volatile uint32_t *)0x10000244) & 0x0000E000) >> 13;
+        }
+    #endif
+
+    #if NRF52_ERRATA_32_ENABLE_WORKAROUND
+        /* Workaround for Errata 32 "DIF: Debug session automatically enables TracePort pins" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp */
+        if (nrf52_errata_32()){
+            CoreDebug->DEMCR &= ~CoreDebug_DEMCR_TRCENA_Msk;
+        }
+    #endif
+
+    #if NRF52_ERRATA_36_ENABLE_WORKAROUND
+        /* Workaround for Errata 36 "CLOCK: Some registers are not reset when expected" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_36()){
+            NRF_CLOCK->EVENTS_DONE = 0;
+            NRF_CLOCK->EVENTS_CTTO = 0;
+            NRF_CLOCK->CTIV = 0;
+        }
+    #endif
+
+    #if NRF52_ERRATA_37_ENABLE_WORKAROUND
+        /* Workaround for Errata 37 "RADIO: Encryption engine is slow by default" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_37()){
+            *(volatile uint32_t *)0x400005A0 = 0x3;
+        }
+    #endif
+
+    #if NRF52_ERRATA_57_ENABLE_WORKAROUND
+        /* Workaround for Errata 57 "NFCT: NFC Modulation amplitude" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_57()){
+            *(volatile uint32_t *)0x40005610 = 0x00000005;
+            *(volatile uint32_t *)0x40005688 = 0x00000001;
+            *(volatile uint32_t *)0x40005618 = 0x00000000;
+            *(volatile uint32_t *)0x40005614 = 0x0000003F;
+        }
+    #endif
+
+    #if NRF52_ERRATA_66_ENABLE_WORKAROUND
+        /* Workaround for Errata 66 "TEMP: Linearity specification not met with default settings" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_66()){
+            NRF_TEMP->A0 = NRF_FICR->TEMP.A0;
+            NRF_TEMP->A1 = NRF_FICR->TEMP.A1;
+            NRF_TEMP->A2 = NRF_FICR->TEMP.A2;
+            NRF_TEMP->A3 = NRF_FICR->TEMP.A3;
+            NRF_TEMP->A4 = NRF_FICR->TEMP.A4;
+            NRF_TEMP->A5 = NRF_FICR->TEMP.A5;
+            NRF_TEMP->B0 = NRF_FICR->TEMP.B0;
+            NRF_TEMP->B1 = NRF_FICR->TEMP.B1;
+            NRF_TEMP->B2 = NRF_FICR->TEMP.B2;
+            NRF_TEMP->B3 = NRF_FICR->TEMP.B3;
+            NRF_TEMP->B4 = NRF_FICR->TEMP.B4;
+            NRF_TEMP->B5 = NRF_FICR->TEMP.B5;
+            NRF_TEMP->T0 = NRF_FICR->TEMP.T0;
+            NRF_TEMP->T1 = NRF_FICR->TEMP.T1;
+            NRF_TEMP->T2 = NRF_FICR->TEMP.T2;
+            NRF_TEMP->T3 = NRF_FICR->TEMP.T3;
+            NRF_TEMP->T4 = NRF_FICR->TEMP.T4;
+        }
+    #endif
+
+    #if NRF52_ERRATA_98_ENABLE_WORKAROUND
+        /* Workaround for Errata 98 "NFCT: Not able to communicate with the peer" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_98()){
+            *(volatile uint32_t *)0x4000568Cul = 0x00038148ul;
+        }
+    #endif
+
+    #if NRF52_ERRATA_103_ENABLE_WORKAROUND && defined(CCM_MAXPACKETSIZE_MAXPACKETSIZE_Pos)
+        /* Workaround for Errata 103 "CCM: Wrong reset value of CCM MAXPACKETSIZE" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_103()){
+            NRF_CCM->MAXPACKETSIZE = 0xFBul;
+        }
+    #endif
+
+    #if NRF52_ERRATA_108_ENABLE_WORKAROUND
+        /* Workaround for Errata 108 "RAM: RAM content cannot be trusted upon waking up from System ON Idle or System OFF mode" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_108()){
+            *(volatile uint32_t *)0x40000EE4ul = *(volatile uint32_t *)0x10000258ul & 0x0000004Ful;
+        }
+    #endif
+
+    #if NRF52_ERRATA_115_ENABLE_WORKAROUND
+        /* Workaround for Errata 115 "RAM: RAM content cannot be trusted upon waking up from System ON Idle or System OFF mode" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_115()){
+            *(volatile uint32_t *)0x40000EE4 = (*(volatile uint32_t *)0x40000EE4 & 0xFFFFFFF0) | (*(uint32_t *)0x10000258 & 0x0000000F);
+        }
+    #endif
+
+    #if NRF52_ERRATA_120_ENABLE_WORKAROUND
+        /* Workaround for Errata 120 "QSPI: Data read or written is corrupted" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_120()){
+            *(volatile uint32_t *)0x40029640ul = 0x200ul;
+        }
+    #endif
+
+    #if NRF52_ERRATA_136_ENABLE_WORKAROUND
+        /* Workaround for Errata 136 "System: Bits in RESETREAS are set when they should not be" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_136()){
+            if (NRF_POWER->RESETREAS & POWER_RESETREAS_RESETPIN_Msk){
+                NRF_POWER->RESETREAS =  ~POWER_RESETREAS_RESETPIN_Msk;
+            }
+        }
+    #endif
+
+    #if NRF52_ERRATA_182_ENABLE_WORKAROUND
+        /* Workaround for Errata 182 "RADIO: Fixes for anomalies #102, #106, and #107 do not take effect" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_182()){
+            *(volatile uint32_t *) 0x4000173C |= (0x1 << 10);
+        }
+    #endif
+
+    #if NRF52_ERRATA_217_ENABLE_WORKAROUND
+        /* Workaround for Errata 217 "RAM: RAM content cannot be trusted upon waking up from System ON Idle or System OFF mode" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_217()){
+            *(volatile uint32_t *)0x40000EE4ul |= 0x0000000Ful;
+        }
+    #endif
+
+    /* Enable the FPU if the compiler used floating point unit instructions. __FPU_USED is a MACRO defined by the
+     * compiler. Since the FPU consumes energy, remember to disable FPU use in the compiler if floating point unit
+     * operations are not used in your code. */
+    #if (__FPU_USED == 1)
+        SCB->CPACR |= (3UL << 20) | (3UL << 22);
+        __DSB();
+        __ISB();
+    #endif
+
+    nrf52_handle_approtect();
+
+    #if NRF52_CONFIGURATION_249_ENABLE && (defined(NRF52805_XXAA) || defined(NRF52810_XXAA) || defined(NRF52811_XXAA))
+        if (nrf52_configuration_249() && (NRF_UICR->NRFMDK[0] == 0xFFFFFFFF || NRF_UICR->NRFMDK[1] == 0xFFFFFFFF))
+        {
+            nvmc_config(NVMC_CONFIG_WEN_Wen);
+            NRF_UICR->NRFMDK[0] = 0;
+            nvmc_wait();
+            NRF_UICR->NRFMDK[1] = 0;
+            nvmc_wait();
+            nvmc_config(NVMC_CONFIG_WEN_Ren);
+        }
+    #endif
+
+    /* Configure NFCT pins as GPIOs if NFCT is not to be used in your code. If CONFIG_NFCT_PINS_AS_GPIOS is not defined,
+       two GPIOs (see Product Specification to see which ones) will be reserved for NFC and will not be available as
+       normal GPIOs. */
+    #if defined (CONFIG_NFCT_PINS_AS_GPIOS) && defined(NFCT_PRESENT)
+        if ((NRF_UICR->NFCPINS & UICR_NFCPINS_PROTECT_Msk) == (UICR_NFCPINS_PROTECT_NFC << UICR_NFCPINS_PROTECT_Pos)){
+            nvmc_config(NVMC_CONFIG_WEN_Wen);
+            NRF_UICR->NFCPINS &= ~UICR_NFCPINS_PROTECT_Msk;
+            nvmc_wait();
+            nvmc_config(NVMC_CONFIG_WEN_Ren);
+            NVIC_SystemReset();
+        }
+    #endif
+
+    /* Configure GPIO pads as pPin Reset pin if Pin Reset capabilities desired. If CONFIG_GPIO_AS_PINRESET is not
+      defined, pin reset will not be available. One GPIO (see Product Specification to see which one) will then be
+      reserved for PinReset and not available as normal GPIO. */
+    #if defined (CONFIG_GPIO_AS_PINRESET)
+        if (((NRF_UICR->PSELRESET[0] & UICR_PSELRESET_CONNECT_Msk) != (UICR_PSELRESET_CONNECT_Connected << UICR_PSELRESET_CONNECT_Pos)) ||
+            ((NRF_UICR->PSELRESET[1] & UICR_PSELRESET_CONNECT_Msk) != (UICR_PSELRESET_CONNECT_Connected << UICR_PSELRESET_CONNECT_Pos))){
+            nvmc_config(NVMC_CONFIG_WEN_Wen);
+            NRF_UICR->PSELRESET[0] = RESET_PIN;
+            nvmc_wait();
+            NRF_UICR->PSELRESET[1] = RESET_PIN;
+            nvmc_wait();
+            nvmc_config(NVMC_CONFIG_WEN_Ren);
+            NVIC_SystemReset();
+        }
+    #endif
+
+    /* When developing for nRF52810 on an nRF52832, or nRF52811 on an nRF52840,
+        make sure NFC pins are mapped as GPIO. */
+    #if    defined (DEVELOP_IN_NRF52832) && defined(NRF52810_XXAA) \
+        || defined (DEVELOP_IN_NRF52840) && defined(NRF52811_XXAA)
+        if ((*((uint32_t *)0x1000120C) & (1 << 0)) != 0){
+            nvmc_config(NVMC_CONFIG_WEN_Wen);
+            *((uint32_t *)0x1000120C) = 0;
+            nvmc_wait();
+            nvmc_config(NVMC_CONFIG_WEN_Ren);
+            NVIC_SystemReset();
+        }
+    #endif
+
+    SystemCoreClockUpdate();
+}

project/ble_peripheral/ble_app_bladder_patch/pca10056/s140/arm5_no_packs/RTE/Device/nRF52840_xxAA/system_nrf52.c.update@8.40.3

@@ -0,0 +1,317 @@
+/*
+
+Copyright (c) 2009-2021 ARM Limited. All rights reserved.
+
+    SPDX-License-Identifier: Apache-2.0
+
+Licensed under the Apache License, Version 2.0 (the License); you may
+not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an AS IS BASIS, WITHOUT
+WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+
+NOTICE: This file has been modified by Nordic Semiconductor ASA.
+
+*/
+
+/* NOTE: Template files (including this one) are application specific and therefore expected to
+   be copied into the application project folder prior to its use! */
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "nrf.h"
+#include "nrf_peripherals.h"
+#include "nrf_erratas.h"
+#include "system_nrf52.h"
+#include "system_nrf52_approtect.h"
+
+#define __SYSTEM_CLOCK_64M      (64000000UL)
+
+
+#if defined ( __CC_ARM )
+    uint32_t SystemCoreClock __attribute__((used)) = __SYSTEM_CLOCK_64M;
+#elif defined ( __ICCARM__ )
+    __root uint32_t SystemCoreClock = __SYSTEM_CLOCK_64M;
+#elif defined ( __GNUC__ )
+    uint32_t SystemCoreClock __attribute__((used)) = __SYSTEM_CLOCK_64M;
+#endif
+
+/* Select correct reset pin */
+/* Handle DEVELOP_IN-targets first as they take precedence over the later macros */
+#if    defined (DEVELOP_IN_NRF52805) \
+    || defined (DEVELOP_IN_NRF52810) \
+    || defined (DEVELOP_IN_NRF52811) \
+    || defined (DEVELOP_IN_NRF52832)
+    #define RESET_PIN 21
+#elif  defined (DEVELOP_IN_NRF52820) \
+    || defined (DEVELOP_IN_NRF52833) \
+    || defined (DEVELOP_IN_NRF52840)
+    #define RESET_PIN 18
+#elif  defined (NRF52805_XXAA) \
+    || defined (NRF52810_XXAA) \
+    || defined (NRF52811_XXAA) \
+    || defined (NRF52832_XXAA) \
+    || defined (NRF52832_XXAB)
+    #define RESET_PIN 21
+#elif  defined (NRF52820_XXAA) \
+    || defined (NRF52833_XXAA) \
+    || defined (NRF52840_XXAA)
+    #define RESET_PIN 18
+#else
+    #error "A supported device macro must be defined."
+#endif
+
+/* -- NVMC utility functions -- */
+/* Waits until NVMC is done with the current pending action */
+void nvmc_wait(void)
+{
+    while (NRF_NVMC->READY == NVMC_READY_READY_Busy){}
+}
+
+/*  Configure the NVMC to "mode".
+    Mode must be an enumerator of field NVMC_CONFIG_WEN */
+void nvmc_config(uint32_t mode)
+{
+    NRF_NVMC->CONFIG = mode << NVMC_CONFIG_WEN_Pos;
+    nvmc_wait();
+}
+
+void SystemCoreClockUpdate(void)
+{
+    SystemCoreClock = __SYSTEM_CLOCK_64M;
+}
+
+void SystemInit(void)
+{
+    /* 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)
+        CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
+        NRF_CLOCK->TRACECONFIG |= CLOCK_TRACECONFIG_TRACEMUX_Serial << CLOCK_TRACECONFIG_TRACEMUX_Pos;
+        NRF_P0->PIN_CNF[18] = (GPIO_PIN_CNF_DRIVE_H0H1 << GPIO_PIN_CNF_DRIVE_Pos) | (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos) | (GPIO_PIN_CNF_DIR_Output << GPIO_PIN_CNF_DIR_Pos);
+    #endif
+
+    /* Enable Trace functionality. If ENABLE_TRACE is not defined, TRACE pins will be used as GPIOs (see Product
+       Specification to see which ones). */
+    #if defined (ENABLE_TRACE) && defined(CLOCK_TRACECONFIG_TRACEMUX_Pos)
+        CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
+        NRF_CLOCK->TRACECONFIG |= CLOCK_TRACECONFIG_TRACEMUX_Parallel << CLOCK_TRACECONFIG_TRACEMUX_Pos;
+        NRF_P0->PIN_CNF[14] = (GPIO_PIN_CNF_DRIVE_H0H1 << GPIO_PIN_CNF_DRIVE_Pos) | (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos) | (GPIO_PIN_CNF_DIR_Output << GPIO_PIN_CNF_DIR_Pos);
+        NRF_P0->PIN_CNF[15] = (GPIO_PIN_CNF_DRIVE_H0H1 << GPIO_PIN_CNF_DRIVE_Pos) | (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos) | (GPIO_PIN_CNF_DIR_Output << GPIO_PIN_CNF_DIR_Pos);
+        NRF_P0->PIN_CNF[16] = (GPIO_PIN_CNF_DRIVE_H0H1 << GPIO_PIN_CNF_DRIVE_Pos) | (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos) | (GPIO_PIN_CNF_DIR_Output << GPIO_PIN_CNF_DIR_Pos);
+        NRF_P0->PIN_CNF[18] = (GPIO_PIN_CNF_DRIVE_H0H1 << GPIO_PIN_CNF_DRIVE_Pos) | (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos) | (GPIO_PIN_CNF_DIR_Output << GPIO_PIN_CNF_DIR_Pos);
+        NRF_P0->PIN_CNF[20] = (GPIO_PIN_CNF_DRIVE_H0H1 << GPIO_PIN_CNF_DRIVE_Pos) | (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos) | (GPIO_PIN_CNF_DIR_Output << GPIO_PIN_CNF_DIR_Pos);
+    #endif
+
+    #if NRF52_ERRATA_12_ENABLE_WORKAROUND
+        /* Workaround for Errata 12 "COMP: Reference ladder not correctly calibrated" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp */
+        if (nrf52_errata_12()){
+            *(volatile uint32_t *)0x40013540 = (*(uint32_t *)0x10000324 & 0x00001F00) >> 8;
+        }
+    #endif
+
+    #if NRF52_ERRATA_16_ENABLE_WORKAROUND
+        /* Workaround for Errata 16 "System: RAM may be corrupt on wakeup from CPU IDLE" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp */
+        if (nrf52_errata_16()){
+            *(volatile uint32_t *)0x4007C074 = 3131961357ul;
+        }
+    #endif
+
+    #if NRF52_ERRATA_31_ENABLE_WORKAROUND
+        /* Workaround for Errata 31 "CLOCK: Calibration values are not correctly loaded from FICR at reset" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp */
+        if (nrf52_errata_31()){
+            *(volatile uint32_t *)0x4000053C = ((*(volatile uint32_t *)0x10000244) & 0x0000E000) >> 13;
+        }
+    #endif
+
+    #if NRF52_ERRATA_32_ENABLE_WORKAROUND
+        /* Workaround for Errata 32 "DIF: Debug session automatically enables TracePort pins" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp */
+        if (nrf52_errata_32()){
+            CoreDebug->DEMCR &= ~CoreDebug_DEMCR_TRCENA_Msk;
+        }
+    #endif
+
+    #if NRF52_ERRATA_36_ENABLE_WORKAROUND
+        /* Workaround for Errata 36 "CLOCK: Some registers are not reset when expected" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_36()){
+            NRF_CLOCK->EVENTS_DONE = 0;
+            NRF_CLOCK->EVENTS_CTTO = 0;
+            NRF_CLOCK->CTIV = 0;
+        }
+    #endif
+
+    #if NRF52_ERRATA_37_ENABLE_WORKAROUND
+        /* Workaround for Errata 37 "RADIO: Encryption engine is slow by default" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_37()){
+            *(volatile uint32_t *)0x400005A0 = 0x3;
+        }
+    #endif
+
+    #if NRF52_ERRATA_57_ENABLE_WORKAROUND
+        /* Workaround for Errata 57 "NFCT: NFC Modulation amplitude" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_57()){
+            *(volatile uint32_t *)0x40005610 = 0x00000005;
+            *(volatile uint32_t *)0x40005688 = 0x00000001;
+            *(volatile uint32_t *)0x40005618 = 0x00000000;
+            *(volatile uint32_t *)0x40005614 = 0x0000003F;
+        }
+    #endif
+
+    #if NRF52_ERRATA_66_ENABLE_WORKAROUND
+        /* Workaround for Errata 66 "TEMP: Linearity specification not met with default settings" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_66()){
+            NRF_TEMP->A0 = NRF_FICR->TEMP.A0;
+            NRF_TEMP->A1 = NRF_FICR->TEMP.A1;
+            NRF_TEMP->A2 = NRF_FICR->TEMP.A2;
+            NRF_TEMP->A3 = NRF_FICR->TEMP.A3;
+            NRF_TEMP->A4 = NRF_FICR->TEMP.A4;
+            NRF_TEMP->A5 = NRF_FICR->TEMP.A5;
+            NRF_TEMP->B0 = NRF_FICR->TEMP.B0;
+            NRF_TEMP->B1 = NRF_FICR->TEMP.B1;
+            NRF_TEMP->B2 = NRF_FICR->TEMP.B2;
+            NRF_TEMP->B3 = NRF_FICR->TEMP.B3;
+            NRF_TEMP->B4 = NRF_FICR->TEMP.B4;
+            NRF_TEMP->B5 = NRF_FICR->TEMP.B5;
+            NRF_TEMP->T0 = NRF_FICR->TEMP.T0;
+            NRF_TEMP->T1 = NRF_FICR->TEMP.T1;
+            NRF_TEMP->T2 = NRF_FICR->TEMP.T2;
+            NRF_TEMP->T3 = NRF_FICR->TEMP.T3;
+            NRF_TEMP->T4 = NRF_FICR->TEMP.T4;
+        }
+    #endif
+
+    #if NRF52_ERRATA_98_ENABLE_WORKAROUND
+        /* Workaround for Errata 98 "NFCT: Not able to communicate with the peer" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_98()){
+            *(volatile uint32_t *)0x4000568Cul = 0x00038148ul;
+        }
+    #endif
+
+    #if NRF52_ERRATA_103_ENABLE_WORKAROUND && defined(CCM_MAXPACKETSIZE_MAXPACKETSIZE_Pos)
+        /* Workaround for Errata 103 "CCM: Wrong reset value of CCM MAXPACKETSIZE" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_103()){
+            NRF_CCM->MAXPACKETSIZE = 0xFBul;
+        }
+    #endif
+
+    #if NRF52_ERRATA_108_ENABLE_WORKAROUND
+        /* Workaround for Errata 108 "RAM: RAM content cannot be trusted upon waking up from System ON Idle or System OFF mode" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_108()){
+            *(volatile uint32_t *)0x40000EE4ul = *(volatile uint32_t *)0x10000258ul & 0x0000004Ful;
+        }
+    #endif
+
+    #if NRF52_ERRATA_115_ENABLE_WORKAROUND
+        /* Workaround for Errata 115 "RAM: RAM content cannot be trusted upon waking up from System ON Idle or System OFF mode" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_115()){
+            *(volatile uint32_t *)0x40000EE4 = (*(volatile uint32_t *)0x40000EE4 & 0xFFFFFFF0) | (*(uint32_t *)0x10000258 & 0x0000000F);
+        }
+    #endif
+
+    #if NRF52_ERRATA_120_ENABLE_WORKAROUND
+        /* Workaround for Errata 120 "QSPI: Data read or written is corrupted" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_120()){
+            *(volatile uint32_t *)0x40029640ul = 0x200ul;
+        }
+    #endif
+
+    #if NRF52_ERRATA_136_ENABLE_WORKAROUND
+        /* Workaround for Errata 136 "System: Bits in RESETREAS are set when they should not be" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_136()){
+            if (NRF_POWER->RESETREAS & POWER_RESETREAS_RESETPIN_Msk){
+                NRF_POWER->RESETREAS =  ~POWER_RESETREAS_RESETPIN_Msk;
+            }
+        }
+    #endif
+
+    #if NRF52_ERRATA_182_ENABLE_WORKAROUND
+        /* Workaround for Errata 182 "RADIO: Fixes for anomalies #102, #106, and #107 do not take effect" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_182()){
+            *(volatile uint32_t *) 0x4000173C |= (0x1 << 10);
+        }
+    #endif
+
+    #if NRF52_ERRATA_217_ENABLE_WORKAROUND
+        /* Workaround for Errata 217 "RAM: RAM content cannot be trusted upon waking up from System ON Idle or System OFF mode" found at the Errata document
+           for your device located at https://infocenter.nordicsemi.com/index.jsp  */
+        if (nrf52_errata_217()){
+            *(volatile uint32_t *)0x40000EE4ul |= 0x0000000Ful;
+        }
+    #endif
+
+    /* Enable the FPU if the compiler used floating point unit instructions. __FPU_USED is a MACRO defined by the
+     * compiler. Since the FPU consumes energy, remember to disable FPU use in the compiler if floating point unit
+     * operations are not used in your code. */
+    #if (__FPU_USED == 1)
+        SCB->CPACR |= (3UL << 20) | (3UL << 22);
+        __DSB();
+        __ISB();
+    #endif
+
+    nrf52_handle_approtect();
+
+    /* Configure NFCT pins as GPIOs if NFCT is not to be used in your code. If CONFIG_NFCT_PINS_AS_GPIOS is not defined,
+       two GPIOs (see Product Specification to see which ones) will be reserved for NFC and will not be available as
+       normal GPIOs. */
+    #if defined (CONFIG_NFCT_PINS_AS_GPIOS) && defined(NFCT_PRESENT)
+        if ((NRF_UICR->NFCPINS & UICR_NFCPINS_PROTECT_Msk) == (UICR_NFCPINS_PROTECT_NFC << UICR_NFCPINS_PROTECT_Pos)){
+            nvmc_config(NVMC_CONFIG_WEN_Wen);
+            NRF_UICR->NFCPINS &= ~UICR_NFCPINS_PROTECT_Msk;
+            nvmc_wait();
+            nvmc_config(NVMC_CONFIG_WEN_Ren);
+            NVIC_SystemReset();
+        }
+    #endif
+
+    /* Configure GPIO pads as pPin Reset pin if Pin Reset capabilities desired. If CONFIG_GPIO_AS_PINRESET is not
+      defined, pin reset will not be available. One GPIO (see Product Specification to see which one) will then be
+      reserved for PinReset and not available as normal GPIO. */
+    #if defined (CONFIG_GPIO_AS_PINRESET)
+        if (((NRF_UICR->PSELRESET[0] & UICR_PSELRESET_CONNECT_Msk) != (UICR_PSELRESET_CONNECT_Connected << UICR_PSELRESET_CONNECT_Pos)) ||
+            ((NRF_UICR->PSELRESET[1] & UICR_PSELRESET_CONNECT_Msk) != (UICR_PSELRESET_CONNECT_Connected << UICR_PSELRESET_CONNECT_Pos))){
+            nvmc_config(NVMC_CONFIG_WEN_Wen);
+            NRF_UICR->PSELRESET[0] = RESET_PIN;
+            nvmc_wait();
+            NRF_UICR->PSELRESET[1] = RESET_PIN;
+            nvmc_wait();
+            nvmc_config(NVMC_CONFIG_WEN_Ren);
+            NVIC_SystemReset();
+        }
+    #endif
+
+    /* When developing for nRF52810 on an nRF52832, or nRF52811 on an nRF52840,
+        make sure NFC pins are mapped as GPIO. */
+    #if    defined (DEVELOP_IN_NRF52832) && defined(NRF52810_XXAA) \
+        || defined (DEVELOP_IN_NRF52840) && defined(NRF52811_XXAA)
+        if ((*((uint32_t *)0x1000120C) & (1 << 0)) != 0){
+            nvmc_config(NVMC_CONFIG_WEN_Wen);
+            *((uint32_t *)0x1000120C) = 0;
+            nvmc_wait();
+            nvmc_config(NVMC_CONFIG_WEN_Ren);
+            NVIC_SystemReset();
+        }
+    #endif
+
+    SystemCoreClockUpdate();
+}

project/ble_peripheral/ble_app_bladder_patch/pca10056/s140/arm5_no_packs/RTE/_flash_s140_nrf52_7.2.0_softdevice/RTE_Components.h

@@ -0,0 +1,21 @@
+
+/*
+ * Auto generated Run-Time-Environment Configuration File
+ *      *** Do not modify ! ***
+ *
+ * Project: 'ble_app_bladder_patch_s140' 
+ * Target:  'flash_s140_nrf52_7.2.0_softdevice' 
+ */
+
+#ifndef RTE_COMPONENTS_H
+#define RTE_COMPONENTS_H
+
+
+/*
+ * Define the Device Header File: 
+ */
+#define CMSIS_device_header "nrf.h"
+
+
+
+#endif /* RTE_COMPONENTS_H */

project/ble_peripheral/ble_app_bladder_patch/pca10056/s140/arm5_no_packs/RTE/_nrf52840_xxaa/RTE_Components.h

@@ -0,0 +1,21 @@
+
+/*
+ * Auto generated Run-Time-Environment Configuration File
+ *      *** Do not modify ! ***
+ *
+ * Project: 'ble_app_bladder_patch_s140' 
+ * Target:  'nrf52840_xxaa' 
+ */
+
+#ifndef RTE_COMPONENTS_H
+#define RTE_COMPONENTS_H
+
+
+/*
+ * Define the Device Header File: 
+ */
+#define CMSIS_device_header "nrf.h"
+
+
+
+#endif /* RTE_COMPONENTS_H */

project/ble_peripheral/ble_app_bladder_patch/pca10056/s140/arm5_no_packs/_nrf52840_xxaa.BAT

@@ -0,0 +1,173 @@
+SET PATH=C:\Keil_v5\ARM\ARMCC\Bin;C:\Program Files\Common Files\Oracle\Java\javapath;C:\Program Files (x86)\Common Files\Oracle\Java\java8path;C:\Program Files (x86)\Common Files\Oracle\Java\javapath;C:\WINDOWS\system32;C:\WINDOWS;C:\WINDOWS\System32\Wbem;C:\WINDOWS\System32\WindowsPowerShell\v1.0\;C:\WINDOWS\System32\OpenSSH\;C:\Program Files (x86)\NVIDIA Corporation\PhysX\Common;C:\Program Files\dotnet\;C:\Program Files (x86)\Windows Kits\10\Windows Performance Toolkit\;D:\go\bin;C:\Program Files\Git\cmd;d:\nrfutil\bin;D:\nrfutil\bin\;C:\Program Files\eProsima\fastdds 3.2.2\bin;C:\Program Files\eProsima\fastdds 3.2.2\bin\x64Win64VS2019;C:\Users\CharlesKWON\AppData\Local\Microsoft\WindowsApps;C:\Users\CharlesKWON\AppData\Local\Programs\Microsoft VS Code\bin;C:\Users\CharlesKWON\.dotnet\tools;C:\Users\CharlesKWON\go\bin;C:\Users\CharlesKWON\AppData\Local\PowerToys\
+SET CPU_TYPE=nRF52840_xxAA
+SET CPU_VENDOR=Nordic Semiconductor
+SET UV2_TARGET=nrf52840_xxaa
+SET CPU_CLOCK=0x03D09000
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\main.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\main_timer.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\ada2200_spi.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\ad5272_i2c.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\battery_saadc.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\mcp4725_i2c.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\power_control.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\tmp235_q1.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\measurements.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\fstorage.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\mcp4725_adc.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\meas_pd_voltage_simple.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\full_agc.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\ir_i2c.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\led_parse.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\cat_interface.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\cmd_parse.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\meas_pd_imm.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\meas_pd_48.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\pulse_gen.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\i2c_manager.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\parser.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\ble_quick_security.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\dr_piezo.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\dr_util.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\dr_adc121s051.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\boards.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\bsp.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\bsp_btn_ble.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\utf.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\ble_advdata.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\ble_advertising.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\ble_conn_params.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\ble_conn_state.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\ble_link_ctx_manager.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\ble_srv_common.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_ble_gatt.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_ble_qwr.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\peer_manager.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\peer_manager_handler.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\pm_buffer.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\peer_data_storage.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\peer_database.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\peer_id.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\security_dispatcher.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\security_manager.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\gatt_cache_manager.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\id_manager.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\gatts_cache_manager.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_ble_lesc.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\ble_nus.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_drv_clock.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_drv_uart.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrfx_atomic.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrfx_clock.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrfx_gpiote.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrfx_prs.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrfx_uart.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrfx_uarte.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrfx_twi.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrfx_saadc.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrfx_timer.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrfx_ppi.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_drv_ppi.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_drv_spi.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrfx_spi.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrfx_spim.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_drv_twi.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrfx_twim.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrfx_pwm.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\app_button.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\app_error.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\app_error_handler_keil.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\app_error_weak.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\app_fifo.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\app_scheduler.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\app_timer2.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\app_uart_fifo.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\app_util_platform.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\drv_rtc.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\hardfault_implementation.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_assert.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_atfifo.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_atflags.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_atomic.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_balloc.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_fprintf.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_fprintf_format.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_memobj.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_pwr_mgmt.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_ringbuf.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_section_iter.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_sortlist.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_strerror.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\retarget.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\crc16.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_fstorage.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_fstorage_sd.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\fds.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_log_backend_rtt.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_log_backend_serial.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_log_default_backends.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_log_frontend.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_log_str_formatter.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\segger_rtt.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\segger_rtt_syscalls_keil.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\segger_rtt_printf.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_sdh.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_sdh_ble.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_sdh_soc.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\ble_dfu.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\ble_dfu_bonded.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\ble_dfu_unbonded.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_dfu_svci.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_crypto_aead.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_crypto_aes.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_crypto_aes_shared.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_crypto_ecc.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_crypto_ecdh.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_crypto_ecdsa.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_crypto_eddsa.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_crypto_error.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_crypto_hash.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_crypto_hkdf.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_crypto_hmac.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_crypto_init.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_crypto_rng.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_crypto_shared.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\cc310_backend_aes.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\cc310_backend_aes_aead.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\cc310_backend_chacha_poly_aead.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\cc310_backend_ecc.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\cc310_backend_ecdh.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\cc310_backend_ecdsa.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\cc310_backend_eddsa.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\cc310_backend_hash.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\cc310_backend_hmac.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\cc310_backend_init.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\cc310_backend_mutex.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\cc310_backend_rng.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\cc310_backend_shared.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\oberon_backend_chacha_poly_aead.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\oberon_backend_ecc.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\oberon_backend_ecdh.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\oberon_backend_ecdsa.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\oberon_backend_eddsa.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\oberon_backend_hash.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\oberon_backend_hmac.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_hw_backend_init.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_hw_backend_rng.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\nrf_hw_backend_rng_mbedtls.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\aes.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\ctr_drbg.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\platform_util.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\system_interface.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\dataconverter.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\errorhelper.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\invbasicmath.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\inv_imu_apex.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\inv_imu_driver.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\inv_imu_selftest.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\inv_imu_transport.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\app_raw.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\app_raw_main.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmAsm" --Via ".\_build\arm_startup_nrf52840._ia"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmCC" --Via ".\_build\system_nrf52.__i"
+"C:\Keil_v5\ARM\ARMCC\Bin\ArmLink" --Via ".\_build\nrf52840_xxaa.lnp"
+"C:\Keil_v5\ARM\ARMCC\Bin\fromelf.exe" ".\_build\nrf52840_xxaa.axf" --i32combined --output ".\_build\nrf52840_xxaa.hex"

project/ble_peripheral/ble_app_bladder_patch/pca10056/s140/arm5_no_packs/i2c_manager.h

@@ -0,0 +1,18 @@
+/*******************************************************************************
+ * @file    i2c_manager.h
+ * @brief   Common header for HW/SW I2C mutex control
+ ******************************************************************************/
+#ifndef __I2C_MANAGER_H__
+#define __I2C_MANAGER_H__
+
+#include <stdbool.h>
+#include "app_error.h"
+
+extern bool HW_I2C_FRQ;
+extern bool SW_I2C_FRQ;
+
+void hw_i2c_init_once(void);
+void sw_i2c_init_once(void);
+void i2c_reset_state(void);
+
+#endif

project/ble_peripheral/ble_app_bladder_patch/pca10056/s140/i2c_manager.c

@@ -0,0 +1,117 @@
+/*******************************************************************************
+ * @file    i2c_manager.c
+ * @brief   Robust HW/SW I2C switching logic with mutual exclusion
+ ******************************************************************************/
+
+#include "i2c_manager.h"
+#include "debug_print.h"
+#include "nrf_delay.h"
+#include "nrf_drv_twi.h"
+#include "nrfx_twi.h"
+#include "boards.h"
+#include "system_interface.h"
+
+bool HW_I2C_FRQ = false;
+bool SW_I2C_FRQ = false;
+
+#define TWI_INSTANCE 0
+
+/* TWI (I2C) 하드웨어 인스턴스 : IMU 드라이버에서 사용 - jhChun 26.03.16 */
+const nrfx_twi_t m_twi = NRFX_TWI_INSTANCE(TWI_INSTANCE);
+
+/* TWI (I2C) 해제 - jhChun 26.03.16 */
+static void twi_uninitialize(void){
+    nrfx_twi_disable(&m_twi);
+    nrfx_twi_uninit(&m_twi);
+}
+
+/* TWI (I2C) 하드웨어 초기화 (SCL/SDA핀, 400kHz) - jhChun 26.03.16 */
+static void twi_initialize(void){
+    ret_code_t err_code;
+
+    const nrfx_twi_config_t twi_config = {
+       .scl                = ICM42670_I2C_SCL_PIN,
+       .sda                = ICM42670_I2C_SDA_PIN,
+       .frequency          = NRF_TWI_FREQ_400K,
+       .interrupt_priority = APP_IRQ_PRIORITY_HIGH,
+    };
+
+    err_code = nrfx_twi_init(&m_twi, &twi_config, NULL, NULL);
+    APP_ERROR_CHECK(err_code);
+
+    nrfx_twi_enable(&m_twi);
+}
+
+/* -------------------------------------------------------------------------- */
+/* HW (TWI) 초기화                                                           */
+/* -------------------------------------------------------------------------- */
+void hw_i2c_init_once(void)
+{
+    if (SW_I2C_FRQ)
+    {
+        DBG_PRINTF("[I2C] SW I2C active - forcing HW switch\r\n");
+        // SW 비활성화 후 전환
+        SW_I2C_FRQ = false;
+    }
+
+    if (HW_I2C_FRQ)
+    {
+        DBG_PRINTF("[I2C] HW I2C already initialized\r\n");
+        return;
+    }
+
+    DBG_PRINTF("[I2C] Initializing HW (TWI) I2C...\r\n");
+    twi_initialize();
+    nrf_delay_ms(2);
+
+    HW_I2C_FRQ = true;
+    SW_I2C_FRQ = false;
+
+    DBG_PRINTF("[I2C] HW I2C initialized\r\n");
+}
+
+/* -------------------------------------------------------------------------- */
+/* SW (Port-Bang) 초기화                                                     */
+/* -------------------------------------------------------------------------- */
+void sw_i2c_init_once(void)
+{
+    if (HW_I2C_FRQ)
+    {
+        DBG_PRINTF("[I2C] HW I2C active -> switching to SW I2C\r\n");
+
+        // HW 완전 종료
+        nrfx_twi_disable(&m_twi);
+        nrfx_twi_uninit(&m_twi);
+        nrf_delay_ms(3);
+
+        HW_I2C_FRQ = false;   // 반드시 false로 갱신
+    }
+
+    // HW 모드가 종료되었으니 SW 시작 가능
+    if (!SW_I2C_FRQ)
+    {
+        DBG_PRINTF("[I2C] Initializing SW (Port Bang-Bang) I2C...\r\n");
+
+        twi_uninitialize(); // SDA/SCL 해제
+        nrf_delay_ms(1);
+
+        SW_I2C_FRQ = true;
+        HW_I2C_FRQ = false;
+
+        DBG_PRINTF("[I2C] SW I2C initialized\r\n");
+    }
+    else
+    {
+        DBG_PRINTF("[I2C] SW I2C already active\r\n");
+    }
+}
+
+/* -------------------------------------------------------------------------- */
+/* RESET STATE                                                               */
+/* -------------------------------------------------------------------------- */
+void i2c_reset_state(void)
+{
+    HW_I2C_FRQ = false;
+    SW_I2C_FRQ = false;
+    DBG_PRINTF("[I2C] Flags reset\r\n");
+}

project/ble_peripheral/ble_app_bladder_patch/system/debug_print.h

@@ -0,0 +1,33 @@
+// file: debug_print.h
+/*******************************************************************************
+ * Debug print macros (conditional compilation)
+ *
+ * Debug output macros using SEGGER RTT (Real Time Transfer).
+ * Sends logs to the PC in real time via J-Link debugger.
+ * Minimal impact on system timing since UART is not used.
+ *
+ * === Conditional compilation ===
+ * ENABLE_PRINTF = 1: DBG_PRINTF maps to SEGGER_RTT_printf (channel 0)
+ *                    -> Actual log output (for debugging)
+ * ENABLE_PRINTF = 0: DBG_PRINTF maps to an empty macro
+ *                    -> Completely removed from code (for release builds)
+ *
+ * === Usage ===
+ * DBG_PRINTF("val: %d\r\n", value);  // Same format string as printf
+ * View output in SEGGER RTT Viewer or J-Link RTT Client.
+ ******************************************************************************/
+#ifndef DEBUG_PRINT_H
+#define DEBUG_PRINT_H
+
+#define ENABLE_PRINTF 1  /* 1=Enable debug output, 0=Disable globally */
+
+#if ENABLE_PRINTF
+    #include "SEGGER_RTT.h"
+    /* Print formatted string to SEGGER RTT channel 0 */
+    #define DBG_PRINTF(...) SEGGER_RTT_printf(0, __VA_ARGS__)
+#else
+    /* Empty macro: compiler removes all call-site code */
+    #define DBG_PRINTF(...) // Do nothing
+#endif
+
+#endif // DEBUG_PRINT_H

project/ble_peripheral/ble_app_bladder_patch/system/led/led_control.c

@@ -0,0 +1,292 @@
+/*******************************************************************************
+ * @file    led_control.c
+ * @brief   Direct LED control driver
+ * @date    2026-03-30
+ *
+ * Implements dual-color LED (green/orange) blink patterns with a single app_timer.
+ * Simple on/off states use immediate GPIO control without a timer.
+ * Complex patterns (e.g. error) are handled by a phase-based state machine.
+ ******************************************************************************/
+
+#include "led_control.h"
+#include "nrf_gpio.h"
+#include "app_timer.h"
+
+/*==============================================================================
+ * Internal constants
+ *============================================================================*/
+#define MS_TO_TICKS(ms)     APP_TIMER_TICKS(ms)
+
+/*==============================================================================
+ * Colors
+ *============================================================================*/
+#define COLOR_NONE      0
+#define COLOR_GREEN     1
+#define COLOR_ORANGE    2
+
+/*==============================================================================
+ * Error pattern constants (No.7)
+ * 3Hz blink x3 = 166ms on + 166ms off x 3 = ~1s, then off for 1s
+ *============================================================================*/
+#define ERROR_BLINK_ON_MS       166
+#define ERROR_BLINK_OFF_MS      166
+#define ERROR_BLINK_COUNT       3
+#define ERROR_PAUSE_MS          1000
+
+/*==============================================================================
+ * Pattern table (for simple blink)
+ *============================================================================*/
+typedef struct
+{
+    uint32_t on_ms;         /* LED on duration (ms) */
+    uint32_t off_ms;        /* LED off duration (ms) */
+    uint8_t  color;         /* COLOR_GREEN or COLOR_ORANGE */
+    bool     repeat;        /* true: repeat forever, false: once then OFF */
+} led_pattern_t;
+
+static const led_pattern_t m_patterns[LED_STATE_COUNT] =
+{
+    [LED_STATE_OFF]              = { 0,    0,    COLOR_NONE,   false },
+    [LED_STATE_POWER_ON]         = { 2000, 0,    COLOR_GREEN,  false },  /* Green on 2s, stay on */
+    [LED_STATE_POWER_OFF]        = { 2000, 0,    COLOR_GREEN,  false },  /* Green on 2s, then OFF */
+    [LED_STATE_ADVERTISING]      = { 500, 500, COLOR_GREEN,  true  },  /* Green blink 1s interval */
+    [LED_STATE_DETACH_WARNING]   = { 1000, 3000, COLOR_GREEN,  true  },  /* Green 1s on / 3s off */
+    [LED_STATE_ALIGN_SEARCHING]  = { 1000, 1000, COLOR_ORANGE, true  },  /* Orange blink 1s interval */
+    [LED_STATE_ALIGN_COMPLETE]   = { 3000, 1000, COLOR_GREEN,  true  },  /* Green 3s on / 1s off */
+    [LED_STATE_ERROR]            = { 0,    0,    COLOR_ORANGE, true  }   /* Separate state machine */
+};
+
+/*==============================================================================
+ * Module variables
+ *============================================================================*/
+APP_TIMER_DEF(m_led_timer);
+
+static led_state_t  m_current_state = LED_STATE_OFF;
+static bool         m_phase_on;         /* true: LED on phase, false: off phase */
+
+/* Error pattern only */
+static uint8_t      m_error_blink_cnt;  /* Blink count so far */
+static uint8_t      m_error_phase;      /* 0: blink-on, 1: blink-off, 2: pause */
+
+/*==============================================================================
+ * GPIO helpers
+ *============================================================================*/
+
+static inline void led_green_on(void)
+{
+#if LED_ACTIVE_LOW
+    nrf_gpio_pin_clear(LED_PIN_GREEN);
+#else
+    nrf_gpio_pin_set(LED_PIN_GREEN);
+#endif
+}
+
+static inline void led_green_off(void)
+{
+#if LED_ACTIVE_LOW
+    nrf_gpio_pin_set(LED_PIN_GREEN);
+#else
+    nrf_gpio_pin_clear(LED_PIN_GREEN);
+#endif
+}
+
+static inline void led_orange_on(void)
+{
+#if LED_ACTIVE_LOW
+    nrf_gpio_pin_clear(LED_PIN_ORANGE);
+#else
+    nrf_gpio_pin_set(LED_PIN_ORANGE);
+#endif
+}
+
+static inline void led_orange_off(void)
+{
+#if LED_ACTIVE_LOW
+    nrf_gpio_pin_set(LED_PIN_ORANGE);
+#else
+    nrf_gpio_pin_clear(LED_PIN_ORANGE);
+#endif
+}
+
+static void led_all_off(void)
+{
+    led_green_off();
+    led_orange_off();
+}
+
+static void led_color_on(uint8_t color)
+{
+    led_all_off();
+    if (color == COLOR_GREEN)       led_green_on();
+    else if (color == COLOR_ORANGE) led_orange_on();
+}
+
+/*==============================================================================
+ * Timer start helper
+ *============================================================================*/
+static void timer_start_ms(uint32_t ms)
+{
+    if (ms == 0) return;
+    app_timer_start(m_led_timer, MS_TO_TICKS(ms), NULL);
+}
+
+/*==============================================================================
+ * Error pattern state machine (No.7)
+ * phase 0: LED ON  (166ms) → phase 1
+ * phase 1: LED OFF (166ms) → cnt++ → cnt<3 ? phase 0 : phase 2
+ * phase 2: PAUSE   (1000ms) → cnt=0, phase 0
+ *============================================================================*/
+static void error_pattern_start(void)
+{
+    m_error_blink_cnt = 0;
+    m_error_phase = 0;
+    led_color_on(COLOR_ORANGE);
+    timer_start_ms(ERROR_BLINK_ON_MS);
+}
+
+static void error_pattern_tick(void)
+{
+    switch (m_error_phase)
+    {
+        case 0: /* ON phase done -> OFF */
+            led_all_off();
+            m_error_phase = 1;
+            timer_start_ms(ERROR_BLINK_OFF_MS);
+            break;
+
+        case 1: /* OFF phase done */
+            m_error_blink_cnt++;
+            if (m_error_blink_cnt < ERROR_BLINK_COUNT)
+            {
+                /* Back to ON */
+                m_error_phase = 0;
+                led_color_on(COLOR_ORANGE);
+                timer_start_ms(ERROR_BLINK_ON_MS);
+            }
+            else
+            {
+                /* 3 blinks done -> pause */
+                m_error_phase = 2;
+                timer_start_ms(ERROR_PAUSE_MS);
+            }
+            break;
+
+        case 2: /* Pause done -> restart */
+            m_error_blink_cnt = 0;
+            m_error_phase = 0;
+            led_color_on(COLOR_ORANGE);
+            timer_start_ms(ERROR_BLINK_ON_MS);
+            break;
+
+        default:
+            break;
+    }
+}
+
+/*==============================================================================
+ * Timer callback
+ *============================================================================*/
+static void led_timer_handler(void * p_context)
+{
+    (void)p_context;
+
+    /* Error state handled separately */
+    if (m_current_state == LED_STATE_ERROR)
+    {
+        error_pattern_tick();
+        return;
+    }
+
+    const led_pattern_t * p = &m_patterns[m_current_state];
+
+    if (m_phase_on)
+    {
+        /* ON -> OFF transition */
+        led_all_off();
+        m_phase_on = false;
+
+        if (p->off_ms > 0)
+        {
+            timer_start_ms(p->off_ms);
+        }
+        else if (!p->repeat)
+        {
+            /* One-shot: if off_ms == 0, stay on (POWER_ON) or turn off (POWER_OFF) */
+            if (m_current_state == LED_STATE_POWER_OFF)
+            {
+                led_all_off();
+                m_current_state = LED_STATE_OFF;
+            }
+            /* POWER_ON: stay lit, no timer */
+        }
+    }
+    else
+    {
+        /* OFF -> ON transition */
+        if (p->repeat)
+        {
+            led_color_on(p->color);
+            m_phase_on = true;
+            timer_start_ms(p->on_ms);
+        }
+        /* No current case where repeat == false && off_ms > 0 */
+    }
+}
+
+/*==============================================================================
+ * Public functions
+ *============================================================================*/
+
+void led_init(void)
+{
+    /* Configure GPIO outputs */
+    nrf_gpio_cfg_output(LED_PIN_GREEN);
+    nrf_gpio_cfg_output(LED_PIN_ORANGE);
+    led_all_off();
+
+    /* Create timer (single-shot) */
+    app_timer_create(&m_led_timer, APP_TIMER_MODE_SINGLE_SHOT, led_timer_handler);
+
+    m_current_state = LED_STATE_OFF;
+}
+
+void led_set_state(led_state_t state)
+{
+    if (state >= LED_STATE_COUNT) return;
+
+    /* Stop previous pattern */
+    app_timer_stop(m_led_timer);
+    led_all_off();
+
+    m_current_state = state;
+    m_phase_on = false;
+
+    const led_pattern_t * p = &m_patterns[state];
+
+    switch (state)
+    {
+        case LED_STATE_OFF:
+            /* Already all off */
+            break;
+
+        /* Error pattern: separate state machine */
+        case LED_STATE_ERROR:
+            error_pattern_start();
+            break;
+
+        /* All others: start from ON phase */
+        default:
+            led_color_on(p->color);
+            m_phase_on = true;
+            if (p->on_ms > 0)
+            {
+                timer_start_ms(p->on_ms);
+            }
+            break;
+    }
+}
+
+led_state_t led_get_state(void)
+{
+    return m_current_state;
+}

project/ble_peripheral/ble_app_bladder_patch/system/led/led_control.h

@@ -0,0 +1,52 @@
+/*******************************************************************************
+ * @file    led_control.h
+ * @brief   Direct LED control driver
+ * @date    2026-03-30
+ *
+ * Controls dual-color LED green(P0.12) + orange(P0.29) via app_timer.
+ * On/off timing, color, and repeat pattern managed per state in a table.
+ ******************************************************************************/
+
+#ifndef LED_CONTROL_H__
+#define LED_CONTROL_H__
+
+#include <stdint.h>
+#include <stdbool.h>
+
+/*==============================================================================
+ * LED pin definitions
+ *============================================================================*/
+#define LED_PIN_GREEN       NRF_GPIO_PIN_MAP(0, 12)   /* Green LED */
+#define LED_PIN_ORANGE      NRF_GPIO_PIN_MAP(0, 29)   /* Orange LED */
+#define LED_ACTIVE_LOW      1                         /* 1 = Active Low (LED on when GPIO LOW) */
+
+/*==============================================================================
+ * LED state enumeration
+ *============================================================================*/
+typedef enum
+{
+    LED_STATE_OFF = 0,              /* All LEDs off */
+    LED_STATE_POWER_ON,             /* 1: Power ON - green on 2s */
+    LED_STATE_POWER_OFF,            /* 2: Power OFF - green on 2s then off */
+    LED_STATE_ADVERTISING,          /* 3: BLE advertising - green blink 1s interval (repeat) */
+    LED_STATE_DETACH_WARNING,       /* 4: Normal operation (detached) - green 1s on / 3s off (repeat) */
+    LED_STATE_ALIGN_SEARCHING,      /* 5: Alignment mode (searching) - orange blink 1s interval (repeat) */
+    LED_STATE_ALIGN_COMPLETE,       /* 6: Alignment mode (complete) - green 3s on / 1s off */
+    LED_STATE_ERROR,                /* 7: Error - orange 3Hz blink x3 / off 1s (repeat) */
+    LED_STATE_COUNT                 /* Array size */
+} led_state_t;
+
+/*==============================================================================
+ * Public functions
+ *============================================================================*/
+
+/** @brief Initialize LED GPIO + create timer - call once from main() */
+void led_init(void);
+
+/** @brief Change LED state - immediately stops previous pattern and starts new one */
+void led_set_state(led_state_t state);
+
+/** @brief Get current LED state */
+led_state_t led_get_state(void);
+
+#endif /* LED_CONTROL_H__ */

project/ble_peripheral/ble_app_bladder_patch/system/main_timer.c

@@ -0,0 +1,288 @@
+/*******************************************************************************
+ TEST medi50  Dec 23
+ *******************************************************************************
+ *
+ * [Module overview]
+ * Main event loop timer module (10ms interval, single-shot mode).
+ *
+ * Dispatches sensor data collection and system control events via flags.
+ * Uses app_timer single-shot mode; after processing, call main_timer_start()
+ * manually to restart if needed.
+ *
+ * [Event flags and processing order]
+ *   motion_raw_data_enabled -> IMU data read (calls icm42670_main)
+ *     - motion_data_once == true: one-shot read (after HW I2C init)
+ *     - motion_data_once == false: continuous read (when not waiting for BLE TX)
+ *   go_batt                -> Battery voltage measurement (battery_level_meas)
+ *   go_temp                -> Temperature measurement (tmp235_voltage_level_meas)
+ *   go_device_power_off    -> Device power OFF (device_power_off)
+ *   go_sleep_mode_enter    -> Enter sleep mode (sleep_mode_enter)
+ *   go_NVIC_SystemReset    -> NVIC system reset
+ *
+ * [info4 mode measurement order]
+ *   IMU continuous read -> go_batt (battery) -> go_temp (temp) -> motion_data_once (IMU one-shot)
+ *   After temperature measurement, motion_data_once=true to return to IMU.
+ *
+ * [Timer settings]
+ *   - Normal mode: 10ms interval (MAIN_LOOP_INTERVAL)
+ *   - FEATURE_DETAIL_VALUE_FULL mode: 80ms interval (for detail printout)
+ *
+ ******************************************************************************/
+
+#include "sdk_common.h"
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <string.h>
+#include "nrf.h"
+#include "nrf_drv_saadc.h"
+#include "nrf_drv_ppi.h"
+#include "nrf_drv_timer.h"
+#include "boards.h"
+#include "app_error.h"
+#include "nrf_delay.h"
+#include "app_util_platform.h"
+#include "nrf_pwr_mgmt.h"
+
+#include "nrf_log.h"
+#include "nrf_drv_gpiote.h"
+#include "battery_saadc.h"
+#include "app_timer.h"
+
+#include "main.h"
+#include "app_raw_main.h"
+#include "main_timer.h"
+#include "tmp235_q1.h"
+//#include "fstorage.h"
+#include "power_control.h"
+#include "main.h"  /* 2026-03-17: cmd_parse.h removed, use main.h */
+#include "debug_print.h"
+#include "i2c_manager.h" //add cj
+
+/* Main loop single-shot timer instance */
+APP_TIMER_DEF(m_main_loop_timer_id);
+
+#if FEATURE_DETAIL_VALUE_FULL
+/* Detail printout mode: run main loop at 80ms interval */
+#define MAIN_LOOP_INTERVAL              80		/* Timer for Full_Mode main processing when detail printout is enabled */
+
+//extern bool pd_adc_full_a_start;
+//extern bool pd_adc_full_b_start;
+//extern bool pd_adc_full_c_start;
+//extern bool pd_adc_full_d_start;
+//extern bool pd_adc_full_end;
+
+extern which_cmd_t cmd_type_t;
+#else
+/* Normal mode: run main loop at 10ms interval */
+#define MAIN_LOOP_INTERVAL              10
+#endif
+
+/* ========================================================================== */
+/* Event flags (set by external modules, processed in main_loop)              */
+/* ========================================================================== */
+bool go_batt= false;                    /* Battery measurement request flag */
+bool go_temp= false;                    /* Temperature measurement request flag */
+bool go_device_power_off = false;       /* Device power OFF request flag */
+bool go_sleep_mode_enter = false;       /* Sleep mode entry request flag */
+bool go_NVIC_SystemReset = false;       /* System reset request flag */
+bool motion_raw_data_enabled = false;   /* IMU motion data read enable flag */
+bool ble_got_new_data = false;          /* BLE new data transmission complete */
+bool motion_data_once = false;          /* IMU one-shot read mode (true: read once) */
+
+/**
+ * @brief Main event loop (single-shot timer callback)
+ *
+ * Flag-based event dispatcher; processes actions based on set flags.
+ * Since the timer is single-shot, call main_timer_start() again from
+ * within the handler to continue execution.
+ *
+ * [Processing priority] (checked in code order)
+ *   1. IMU motion data (motion_raw_data_enabled)
+ *   2. Battery measurement (go_batt)
+ *   3. Temperature measurement (go_temp)
+ *   4. Power OFF (go_device_power_off)
+ *   5. Sleep mode (go_sleep_mode_enter)
+ *   6. System reset (go_NVIC_SystemReset)
+ */
+void main_loop(void * p_context)	/* For x ms */
+{
+	UNUSED_PARAMETER(p_context);
+
+#if FEATURE_DETAIL_VALUE_FULL
+//	if(pd_adc_full_a_start == true) {		// A mode
+//		main_timer_stop();
+//		printf("main_loop_A\r\n");
+//		full_adc_start();
+//	}else if(pd_adc_full_b_start == true) {	// B mode
+//		main_timer_stop();
+//		printf("main_loop_B\r\n");
+//		full_adc_start();
+//	}else if(pd_adc_full_c_start == true) {	// C mode
+//		main_timer_stop();
+//		printf("main_loop_C\r\n");
+//		full_adc_start();
+//	}else if(pd_adc_full_d_start == true) {	// D mode
+//		main_timer_stop();
+//		printf("main_loop_D\r\n");
+//		full_adc_start();
+//	}else if(pd_adc_full_end == true) { 	// Completed
+//		pd_adc_full_end = false;
+//		main_timer_stop();
+//		printf("main_loop_END\r\n");
+
+//		if(cmd_type_t == CMD_BLE) {
+//			full_send_timer_start();
+//		}
+//	}
+#endif
+					
+	// For Motion Data Sampling
+
+	/* ---- IMU motion data read ---- */
+	/*
+	 * If motion_raw_data_enabled is true, read IMU (ICM42670P) data.
+	 *
+	 * motion_data_once == true:
+	 *   One-shot read mode. Initialize HW I2C then call icm42670_main() once.
+	 *   Used in info4 mode to return to IMU after battery/temp measurement.
+	 *
+	 * motion_data_once == false:
+	 *   Continuous read mode. If not waiting for BLE TX (ble_got_new_data==false),
+	 *   call icm42670_main() and restart timer after 10ms for repeated execution.
+	 */
+	if (motion_raw_data_enabled == true)
+	{
+		main_timer_stop();   /* Stop timer (prevent re-entry) */
+		if (motion_data_once == true)
+		{
+			/* One-shot mode: init HW I2C then read IMU data once */
+			hw_i2c_init_once();     /* Switch to HW TWI mode (400kHz) */
+			icm42670_main();        /* Read and process IMU data */
+        }
+		else
+		{
+			/* Continuous mode: repeat read if not waiting for BLE TX */
+			if (ble_got_new_data==false)
+			{
+				//for(uint16_t i=0 ; i<60 ;i++)
+				//{
+				DBG_PRINTF("IMU \r\n");
+
+				icm42670_main();           /* Read IMU data */
+				motion_raw_data_enabled = true;   /* Keep flag set (continuous read) */
+				main_timer_start_ms(1000);       /* Next IMU read after 1s */
+			}
+	//		else if(ble_got_new_data==true){
+	//			motion_data_once = true;
+	//		}
+		}
+	}
+	
+	
+	/* ---- Battery voltage measurement ---- */
+	/*
+	 * If go_batt is true, measure battery level.
+	 * Called after IMU continuous read in info4 mode.
+	 * Timer remains stopped after measurement.
+	 */
+	if (go_batt == true)
+	{
+		DBG_PRINTF("IMU BATT\r\n");
+		main_timer_stop();       /* Stop timer */
+		go_batt = false;         /* Consume flag (one-shot) */
+//		go_temp = true;
+			battery_level_meas();   /* Measure battery voltage via SAADC */
+//			nrf_delay_ms(20);
+//			m48_adc_start_init();
+//		main_timer_start();
+	}
+
+
+	/* ---- Temperature measurement ---- */
+	/*
+	 * If go_temp is true, measure temperature via TMP235-Q1 sensor.
+	 * Called after battery measurement in info4 mode.
+	 * After completion, sets motion_data_once=true so the next IMU read
+	 * uses one-shot mode (with HW I2C re-init).
+	 */
+	if (go_temp == true)
+	{
+		DBG_PRINTF("IMU Temp\r\n");
+		main_timer_stop();           /* Stop timer */
+//	go_batt = false;
+		go_temp = false;             /* Consume flag (one-shot) */
+		motion_data_once = true;     /* Switch next IMU read to one-shot mode */
+		tmp235_voltage_level_meas(); /* Measure TMP235-Q1 temperature sensor voltage */
+//	 motion_raw_data_enabled = true;
+//		main_timer_start();
+
+	}
+	
+	/* ---- System control event handling ---- */
+
+	/* Device power OFF handling */
+	if (go_device_power_off == true)
+	{
+		main_timer_stop();              /* Stop timer */
+		DBG_PRINTF("Off main_timer\r\n");
+		device_power_off();             /* Execute device power OFF */
+	}
+
+	/* Sleep mode entry handling */
+	if (go_sleep_mode_enter == true)
+	{
+		main_timer_stop();              /* Stop timer */
+		DBG_PRINTF("sleep main timer\r\n");
+		sleep_mode_enter();             /* Execute sleep mode entry */
+	}
+
+	/* NVIC system reset handling */
+	if (go_NVIC_SystemReset == true)
+	{
+		main_timer_stop();              /* Stop timer */
+		NVIC_SystemReset();             /* ARM Cortex-M4 system reset */
+	}
+}
+
+
+/**
+ * @brief Start main loop timer
+ *
+ * Single-shot mode; calls main_loop() after MAIN_LOOP_INTERVAL (10ms or 80ms)
+ */
+void main_timer_start(void)
+{
+	APP_ERROR_CHECK(app_timer_start(m_main_loop_timer_id, APP_TIMER_TICKS(MAIN_LOOP_INTERVAL), NULL));
+}
+
+/**
+ * @brief Start main loop timer with specified interval (ms)
+ *
+ * Used when a different period than the default is needed (e.g. IMU streaming)
+ */
+void main_timer_start_ms(uint32_t interval_ms)
+{
+	APP_ERROR_CHECK(app_timer_start(m_main_loop_timer_id, APP_TIMER_TICKS(interval_ms), NULL));
+}
+
+/**
+ * @brief Stop main loop timer
+ */
+void main_timer_stop(void)
+{
+	APP_ERROR_CHECK(app_timer_stop(m_main_loop_timer_id));
+}
+
+/**
+ * @brief Initialize main loop timer (call once at app startup)
+ *
+ * Creates a single-shot timer with main_loop() as callback.
+ * Must manually restart via main_timer_start() after each firing.
+ */
+void main_timer_init(void)
+{
+    APP_ERROR_CHECK(app_timer_create(&m_main_loop_timer_id, APP_TIMER_MODE_SINGLE_SHOT, main_loop));
+}
+

project/ble_peripheral/ble_app_bladder_patch/system/main_timer.h

@@ -0,0 +1,37 @@
+/*******************************************************************************
+ * @file	timer_routine.h
+ * @author	CandyPops Co.
+ * @version	V1.0.0
+ * @date	2022-09-05
+ * @brief
+ *******************************************************************************
+ *
+ * [Header overview]
+ * Public interface header for the main event loop timer.
+ *
+ * Uses a single-shot timer at 10ms (normal) or 80ms (detail) interval.
+ * The main_loop() callback handles sensor data collection and system control.
+ *
+ * [Key functions]
+ *   main_timer_start() : Start timer (single-shot, manual restart required)
+ *   main_timer_stop()  : Stop timer
+ *   main_timer_init()  : Initialize timer (call once at app startup)
+ *
+ ******************************************************************************/
+
+#ifndef TIMER_ROUTINE_H__
+#define TIMER_ROUTINE_H__
+
+/** @brief Start main loop timer (single-shot, calls main_loop after MAIN_LOOP_INTERVAL) */
+void main_timer_start(void);
+
+/** @brief Start main loop timer with specified interval (ms) */
+void main_timer_start_ms(uint32_t interval_ms);
+
+/** @brief Stop main loop timer */
+void main_timer_stop(void);
+
+/** @brief Initialize main loop timer (call once at startup, creates single-shot timer) */
+void main_timer_init(void);
+
+#endif //TIMER_ROUTINE_H__

project/ble_peripheral/ble_app_bladder_patch/system/power/power_control.c

@@ -0,0 +1,188 @@
+/*******************************************************************************
+ TEST medi50  Dec 23
+ //=========power_control.c====================
+ *******************************************************************************
+ *
+ * [Module overview]
+ * Device power sequence manager (power on / off / sleep).
+ *
+ * [Power-on flow]
+ *   device_activated()
+ *     -> Start power_loop timer -> completes immediately (no sensor init needed)
+ *     -> Sensor (IMU) is handled by imu_read_direct() at measurement time
+ *
+ * [Sleep mode]
+ *   device_sleep_mode()
+ *     -> Clear processing flag
+ *
+ * [Reactivation]
+ *   device_reactivated()
+ *     -> Re-init I2C then restart power sequence from the beginning
+ *
+ * [Timer]
+ *   Single-shot app_timer, calls power_loop at 20ms interval
+ *
+ ******************************************************************************/
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <string.h>
+#include "main.h"
+#include "power_control.h"
+#include "nrf_delay.h"
+
+
+#include "nrf_log.h"
+#include "app_timer.h"
+#include "debug_print.h"
+#include "i2c_manager.h"
+
+
+/* Single-shot timer instance for power sequence */
+APP_TIMER_DEF(m_power_timer_id);
+
+/* Power sequence state machine timer interval (20ms) */
+// 2025-12-08 change to #define POWER_LOOP_INTERVAL 30 -> 20
+#define POWER_LOOP_INTERVAL 20
+
+/* Power sequence current step (0: I2C init, 1: reserved, 2: complete) */
+static uint8_t p_order;
+
+/* Power sequence lock flag (true = sequence in progress) */
+bool lock_check = false;
+
+/**
+ * @brief Enter device sleep mode
+ *
+ * @return 0 (always succeeds)
+ */
+int device_sleep_mode(void)
+{
+	int rc = 0;
+	nrf_delay_ms(2);
+	DBG_PRINTF("Device_Sleep_Mode OK!\r\n");
+	nrf_delay_ms(10);
+	return rc;
+}
+
+
+/**
+ * @brief Power on device (start power sequence)
+ *
+ * Resets the sequence step to 0, sets the lock flag, and starts
+ * the timer to drive the power_loop() state machine.
+ *
+ * @return 0 (always succeeds)
+ */
+int device_activated(void)
+{
+	int rc = 0;
+	p_order = 0;           /* State machine start step (Step 0: I2C init) */
+	lock_check =true;      /* Lock: power sequence in progress */
+	power_timer_start();   /* First power_loop() call after 20ms */
+
+	return rc;
+}
+
+/**
+ * @brief Power-up sequence state machine
+ *
+ * Executes hardware initialization steps
+ * Called by app_timer at POWER_LOOP_INTERVAL (20ms)
+ *
+ * Sequence:
+ *   0: I2C init
+ *   1: (reserved)
+ *   2: Complete
+ */
+/*
+ * Power sequence state machine (20ms single-shot timer callback).
+ *
+ * [Execution flow]
+ *   1) Timer callback entry -> stop timer (single-shot)
+ *   2) Execute init step for current p_order
+ *   3) If p_order < 2, advance to next step and restart timer
+ *   4) If p_order == 2, power sequence complete
+ *
+ * No sensor init needed -- imu_read_direct() handles it per measurement.
+ */
+void power_loop(void *p_context)
+{
+    UNUSED_PARAMETER(p_context);
+
+    power_timer_stop();   /* Stop current timer (single-shot, manual restart needed) */
+
+    /* No sensor init needed -- imu_read_direct() handles it per measurement */
+    /* Add switch(p_order) here if future power sequence steps are needed */
+    p_order = 2;
+
+    /* Advance to next step or finish */
+    /* Advance to next step or finish sequence */
+    if (p_order < 2)
+	{
+        p_order++;             /* Move to next step */
+        power_timer_start();   /* Execute next step after 20ms */
+    }
+	else
+	{
+        /* Power sequence fully complete */
+        DBG_PRINTF("[PWR] Device Activated OK!\r\n");
+    }
+}
+
+
+/**
+ * @brief Reactivate device (on wake from sleep)
+ *
+ * Re-initializes I2C and restarts the power sequence from the beginning.
+ * Called when waking from sleep mode.
+ *
+ * @return 0 (always succeeds)
+ */
+int device_reactivated(void)
+{
+	int rc = 0;
+	sw_i2c_init_once();    /* Re-initialize I2C bus */
+	nrf_delay_ms(10);      /* Stabilization delay */
+	lock_check = true;     /* Lock: power sequence in progress */
+	p_order = 0;           /* Restart state machine from Step 0 */
+	power_timer_start();   /* Start power_loop() after 20ms */
+	return rc;
+}
+
+/**
+ * @brief Start power sequence timer
+ *
+ * Single-shot mode; calls power_loop() after POWER_LOOP_INTERVAL (20ms).
+ */
+void power_timer_start(void)
+{
+	APP_ERROR_CHECK(app_timer_start(m_power_timer_id, APP_TIMER_TICKS(POWER_LOOP_INTERVAL), NULL));
+}
+
+
+/**
+ * @brief Stop power sequence timer
+ */
+void power_timer_stop(void)
+{
+	APP_ERROR_CHECK(app_timer_stop(m_power_timer_id));
+
+}
+
+
+/**
+ * @brief Initialize power sequence timer (call once at app startup)
+ *
+ * Creates a single-shot timer with power_loop() as callback.
+ * Must manually restart via power_timer_start() after each step.
+ */
+void power_timer_init(void)  //active start
+{
+ APP_ERROR_CHECK(app_timer_create(&m_power_timer_id, APP_TIMER_MODE_SINGLE_SHOT, power_loop));
+
+	// 2025-12-08 change to  APP_TIMER_MODE_REPEATED mode
+	//APP_ERROR_CHECK(app_timer_create(&m_power_timer_id,  APP_TIMER_MODE_REPEATED, power_loop));
+
+
+}

project/ble_peripheral/ble_app_bladder_patch/system/power/power_control.h

@@ -0,0 +1,48 @@
+/*******************************************************************************
+ * @file	power_control.h
+ * @author	CandyPops Co.
+ * @version	V1.0.0
+ * @date	2022-09-05
+ * @brief
+ *******************************************************************************
+ *
+ * [Header overview]
+ * Public interface header for the device power sequence manager.
+ *
+ * [Key functions]
+ *   device_activated()     : Power on -> start power_loop state machine
+ *   device_sleep_mode()    : Enter sleep mode (stop processing)
+ *   device_reactivated()   : Wake from sleep -> restart power sequence
+ *   power_loop()           : 20ms power sequence state machine callback
+ *   power_timer_start/stop : Power sequence timer control
+ *   power_timer_init()     : Initialize power sequence timer (call once at startup)
+ *
+ ******************************************************************************/
+
+#ifndef _POWER_CONTROL_H_
+#define _POWER_CONTROL_H_
+
+#include "main.h"
+
+/** @brief Enter device sleep mode (clears processing flag) */
+int device_sleep_mode(void);
+
+/** @brief Power on device (start power sequence state machine) */
+int device_activated(void);
+
+/** @brief Reactivate device (re-init I2C and restart sequence on wake from sleep) */
+int device_reactivated(void);
+
+/** @brief Power sequence state machine (20ms timer callback, Step 0->1->2) */
+void power_loop(void * p_context);	/* For x ms */
+
+/** @brief Start power sequence timer (20ms single-shot) */
+void power_timer_start(void);
+
+/** @brief Stop power sequence timer */
+void power_timer_stop(void);;
+
+/** @brief Initialize power sequence timer (call once at app startup) */
+void power_timer_init(void);
+#endif //_POWER_CONTROL_H_
+

project/ble_peripheral/ble_app_bladder_patch/system/security/ble_quick_security.c

@@ -0,0 +1,186 @@
+/**
+ * @file ble_quick_security.c
+ * @brief Ultra-simple BLE Security Configuration Implementation
+ * 
+ * Compatible with existing debug_print.h system.
+ */
+
+#include "ble_quick_security.h"
+#include "peer_manager_handler.h"
+#include "nrf_ble_lesc.h"
+#include "app_error.h"
+#include <string.h>
+
+// Use existing debug system
+#include "debug_print.h"
+
+// Module state
+static struct {
+    bool dev_mode;
+    bool bonds_delete_pending;
+} m_state = {0};
+
+/**
+ * @brief Initialize BLE security
+ */
+void ble_security_quick_init(bool development_mode)
+{
+    ret_code_t err_code;
+    ble_gap_sec_params_t sec_params;
+    
+    // Save mode
+    m_state.dev_mode = development_mode;
+    m_state.bonds_delete_pending = false;
+    
+    // Initialize Peer Manager FIRST
+    err_code = pm_init();
+    APP_ERROR_CHECK(err_code);
+
+    // Initialize LESC module (ECDH P-256 key pair generation)
+    err_code = nrf_ble_lesc_init();
+    APP_ERROR_CHECK(err_code);
+    
+    // Configure security parameters
+    memset(&sec_params, 0, sizeof(ble_gap_sec_params_t));
+    
+    if (development_mode) {
+        // ===== DEVELOPMENT MODE: No security =====
+        sec_params.bond         = 0;  // No bonding
+        sec_params.mitm         = 0;  // No MITM
+        sec_params.lesc         = 0;  // No LESC
+        sec_params.keypress     = 0;
+        sec_params.io_caps      = BLE_GAP_IO_CAPS_NONE;  // No passkey
+        sec_params.oob          = 0;
+        sec_params.min_key_size = 7;
+        sec_params.max_key_size = 16;
+        
+        DBG_PRINTF("DEV MODE: Security DISABLED - Fast connection\r\n");
+        
+        // Delete all bonds (async)
+        err_code = pm_peers_delete();
+        if (err_code == NRF_SUCCESS) {
+            m_state.bonds_delete_pending = true;
+            DBG_PRINTF("DEV MODE: Deleting all bonds...\r\n");
+        }
+    } else {
+        // ===== PRODUCTION MODE: Full security =====
+        sec_params.bond         = 1;  // Enable bonding
+        sec_params.mitm         = 1;  // Enable MITM
+        sec_params.lesc         = 1;  // LE Secure Connections (ECDH P-256)
+        sec_params.keypress     = 0;
+        sec_params.io_caps      = BLE_GAP_IO_CAPS_DISPLAY_ONLY;  // Show passkey
+        sec_params.oob          = 0;
+        sec_params.min_key_size = 7;
+        sec_params.max_key_size = 16;
+        sec_params.kdist_own.enc  = 1;
+        sec_params.kdist_own.id   = 1;
+        sec_params.kdist_peer.enc = 1;
+        sec_params.kdist_peer.id  = 1;
+        
+        DBG_PRINTF("PROD MODE: Security ENABLED - Full protection\r\n");
+    }
+    
+    // Apply security parameters
+    err_code = pm_sec_params_set(&sec_params);
+    APP_ERROR_CHECK(err_code);
+}
+
+/**
+ * @brief Get current mode
+ */
+bool ble_security_is_dev_mode(void)
+{
+    return m_state.dev_mode;
+}
+
+/**
+ * @brief PM event handler
+ */
+void ble_security_quick_pm_handler(pm_evt_t const *p_evt)
+{
+    ret_code_t err_code;
+    
+    // DEV mode: do not forward security failure events to SDK handler (prevent disconnect)
+    if (m_state.dev_mode && p_evt->evt_id == PM_EVT_CONN_SEC_FAILED) {
+        DBG_PRINTF("Security failed: error=%d\r\n",
+                  p_evt->params.conn_sec_failed.error);
+        DBG_PRINTF("DEV: Ignoring sec failure, keeping connection\r\n");
+        return;
+    }
+
+    // Call standard handlers (required)
+    pm_handler_on_pm_evt(p_evt);
+    pm_handler_flash_clean(p_evt);
+
+    // Handle events
+    switch (p_evt->evt_id) {
+        case PM_EVT_CONN_SEC_SUCCEEDED:
+            if (m_state.dev_mode) {
+                DBG_PRINTF("DEV: Connected (no security)\r\n");
+            } else {
+                pm_conn_sec_status_t status;
+                if (pm_conn_sec_status_get(p_evt->conn_handle, &status) == NRF_SUCCESS) {
+                    DBG_PRINTF("PROD: Link secured - LESC=%d MITM=%d bonded=%d\r\n",
+                               status.lesc, status.mitm_protected, status.bonded);
+                } else {
+                    DBG_PRINTF("PROD: Link secured (bonded)\r\n");
+                }
+            }
+            break;
+
+        case PM_EVT_CONN_SEC_FAILED:
+            DBG_PRINTF("Security failed: error=%d\r\n",
+                      p_evt->params.conn_sec_failed.error);
+
+            if (m_state.dev_mode) {
+                // DEV mode: ignore security failure, keep connection
+                DBG_PRINTF("DEV: Ignoring sec failure, keeping connection\r\n");
+                break;
+            }
+
+            if (p_evt->params.conn_sec_failed.error == PM_CONN_SEC_ERROR_PIN_OR_KEY_MISSING) {
+                // Key missing: attempt re-pairing, fall back to disconnect on failure
+                err_code = pm_conn_secure(p_evt->conn_handle, true);
+                if (err_code != NRF_ERROR_INVALID_STATE &&
+                    err_code != NRF_ERROR_BUSY &&
+                    err_code != BLE_ERROR_INVALID_CONN_HANDLE) {
+                    APP_ERROR_CHECK(err_code);
+                }
+                if (err_code != NRF_SUCCESS) {
+                    // Re-pairing not possible -> disconnect
+                    pm_handler_disconnect_on_sec_failure(p_evt);
+                }
+            } else {
+                // Other security failure -> delete bond then attempt re-pairing
+                pm_peer_id_t peer_id;
+                if (pm_peer_id_get(p_evt->conn_handle, &peer_id) == NRF_SUCCESS
+                    && peer_id != PM_PEER_ID_INVALID) {
+                    pm_peer_delete(peer_id);
+                }
+                err_code = pm_conn_secure(p_evt->conn_handle, true);
+                if (err_code != NRF_SUCCESS) {
+                    pm_handler_disconnect_on_sec_failure(p_evt);
+                }
+            }
+            break;
+            
+        case PM_EVT_CONN_SEC_CONFIG_REQ:
+            {
+                pm_conn_sec_config_t config = {
+                    .allow_repairing = true
+                };
+                pm_conn_sec_config_reply(p_evt->conn_handle, &config);
+            }
+            break;
+            
+        case PM_EVT_PEERS_DELETE_SUCCEEDED:
+            if (m_state.bonds_delete_pending) {
+                m_state.bonds_delete_pending = false;
+                DBG_PRINTF("DEV MODE: Bonds cleared!\r\n");
+            }
+            break;
+            
+        default:
+            break;
+    }
+}

project/ble_peripheral/ble_app_bladder_patch/system/security/ble_quick_security.h

@@ -0,0 +1,56 @@
+ /**
+ * @file ble_quick_security.h
+ * @brief Ultra-simple BLE Security Configuration
+ * 
+ * ONE function call to control entire security behavior.
+ * Works with existing debug_print.h system.
+ */
+
+#ifndef BLE_QUICK_SECURITY_H
+#define BLE_QUICK_SECURITY_H
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "peer_manager.h"
+
+/**
+ * @brief Initialize BLE security with ONE simple parameter
+ * 
+ * @param[in] development_mode  true (1) = Fast development (no security)
+ *                              false (0) = Production (full security)
+ * 
+ * Development mode (1):
+ *   - No pairing/bonding required
+ *   - Auto-deletes all bonds on startup
+ *   - Instant connection
+ *   - Fast iteration
+ * 
+ * Production mode (0):
+ *   - Full security with passkey
+ *   - Bonding preserved
+ *   - MITM protection
+ *   - Secure deployment
+ * 
+ * Usage in main.c:
+ *   #define BLE_DEV_MODE 1  // or 0
+ *   ble_security_quick_init(BLE_DEV_MODE);
+ */
+void ble_security_quick_init(bool development_mode);
+
+/**
+ * @brief Get current mode
+ * @return true if in development mode, false if production
+ */
+bool ble_security_is_dev_mode(void);
+
+/**
+ * @brief Peer Manager event handler
+ * 
+ * Call this from your pm_evt_handler() function.
+ * It handles all security events automatically.
+ * 
+ * @param[in] p_evt  Peer Manager event
+ */
+void ble_security_quick_pm_handler(pm_evt_t const *p_evt);
+
+#endif // BLE_QUICK_SECURITY_H

project/dfu/private_key.c

@@ -0,0 +1,12 @@
+
+/* This file was automatically generated by nrfutil on 2022-09-06 (YY-MM-DD) at 15:11:25 */
+
+#include "stdint.h"
+#include "compiler_abstraction.h"
+
+/** @brief Public key used to verify DFU images */
+__ALIGN(4) const uint8_t pk[64] =
+{
+    0x67, 0x5b, 0xcb, 0x03, 0xe5, 0x70, 0x6a, 0x83, 0x6c, 0x5e, 0x17, 0xbc, 0x81, 0x20, 0x27, 0xdc, 0x76, 0x6b, 0xae, 0x9b, 0x89, 0x72, 0x1a, 0x28, 0x31, 0x2a, 0x9b, 0x35, 0xbe, 0x1a, 0x90, 0xd5,
+    0xec, 0x4b, 0x24, 0x39, 0xb5, 0x79, 0x5f, 0x5a, 0xd7, 0x3b, 0xd8, 0x86, 0xa7, 0x80, 0xa9, 0x2d, 0xc4, 0xf6, 0xd6, 0x03, 0xa0, 0xe6, 0xd8, 0xc7, 0x03, 0x3e, 0x28, 0xe2, 0x76, 0x08, 0x88, 0xfa
+};

project/dfu/secure_bootloader/main.c

@@ -0,0 +1,121 @@
+/*******************************************************************************
+ * @file	main.c
+ * @author	CandyPops Co.
+ * @version	V1.0.0
+ * @date	2022-09-05
+ * @brief
+ ******************************************************************************/
+
+#include <stdint.h>
+#include "boards.h"
+#include "nrf_mbr.h"
+#include "nrf_bootloader.h"
+#include "nrf_bootloader_app_start.h"
+#include "nrf_bootloader_dfu_timers.h"
+#include "nrf_dfu.h"
+#include "nrf_log.h"
+#include "nrf_log_ctrl.h"
+#include "nrf_log_default_backends.h"
+#include "app_error.h"
+#include "app_error_weak.h"
+#include "nrf_bootloader_info.h"
+#include "nrf_delay.h"
+
+#define POWER_HOLD	NRF_GPIO_PIN_MAP(0,8)		// power hold port for medithings device
+
+static void on_error(void)
+{
+    NRF_LOG_FINAL_FLUSH();
+
+#if NRF_MODULE_ENABLED(NRF_LOG_BACKEND_RTT)
+    // To allow the buffer to be flushed by the host.
+    nrf_delay_ms(100);
+#endif
+#ifdef NRF_DFU_DEBUG_VERSION
+    NRF_BREAKPOINT_COND;
+#endif
+    NVIC_SystemReset();
+}
+
+
+void app_error_handler(uint32_t error_code, uint32_t line_num, const uint8_t * p_file_name)
+{
+    NRF_LOG_ERROR("%s:%d", p_file_name, line_num);
+    on_error();
+}
+
+
+void app_error_fault_handler(uint32_t id, uint32_t pc, uint32_t info)
+{
+    NRF_LOG_ERROR("Received a fault! id: 0x%08x, pc: 0x%08x, info: 0x%08x", id, pc, info);
+    on_error();
+}
+
+
+void app_error_handler_bare(uint32_t error_code)
+{
+    NRF_LOG_ERROR("Received an error: 0x%08x!", error_code);
+    on_error();
+}
+
+/**
+ * @brief Function notifies certain events in DFU process.
+ */
+static void dfu_observer(nrf_dfu_evt_type_t evt_type)
+{
+    switch (evt_type)
+    {
+        case NRF_DFU_EVT_DFU_FAILED:
+        case NRF_DFU_EVT_DFU_ABORTED:
+        case NRF_DFU_EVT_DFU_INITIALIZED:
+            bsp_board_init(BSP_INIT_LEDS);
+            bsp_board_led_on(BSP_BOARD_LED_0);
+            break;
+        case NRF_DFU_EVT_TRANSPORT_ACTIVATED:
+            bsp_board_led_on(BSP_BOARD_LED_0);
+            break;
+        case NRF_DFU_EVT_DFU_STARTED:
+            break;
+        default:
+            break;
+    }
+}
+
+
+/**@brief Function for application main entry. */
+int main(void)
+{
+    uint32_t ret_val;
+
+    nrf_gpio_cfg_output(POWER_HOLD);
+    nrf_gpio_pin_set(POWER_HOLD);		// The medithings device performs power hold when the power button is pressed for 3 seconds.
+                                    // And then, The medithings device loads the bootloader.
+
+    // Must happen before flash protection is applied, since it edits a protected page.
+    nrf_bootloader_mbr_addrs_populate();
+
+    // Protect MBR and bootloader code from being overwritten.
+    ret_val = nrf_bootloader_flash_protect(0, MBR_SIZE);
+    APP_ERROR_CHECK(ret_val);
+    ret_val = nrf_bootloader_flash_protect(BOOTLOADER_START_ADDR, BOOTLOADER_SIZE);
+    APP_ERROR_CHECK(ret_val);
+
+    (void) NRF_LOG_INIT(nrf_bootloader_dfu_timer_counter_get);
+    NRF_LOG_DEFAULT_BACKENDS_INIT();
+
+    NRF_LOG_INFO("Inside main");
+
+    ret_val = nrf_bootloader_init(dfu_observer);
+    APP_ERROR_CHECK(ret_val);
+
+    NRF_LOG_FLUSH();
+
+    NRF_LOG_ERROR("After main, should never be reached.");
+    NRF_LOG_FLUSH();
+
+    APP_ERROR_CHECK_BOOL(false);
+}
+
+/**
+ * @}
+ */

project/dfu/secure_bootloader/nrf_crypto_allocator.h

@@ -0,0 +1,58 @@
+/**
+ * Copyright (c) 2019 - 2021, Nordic Semiconductor ASA
+ *
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, this
+ *    list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form, except as embedded into a Nordic
+ *    Semiconductor ASA integrated circuit in a product or a software update for
+ *    such product, must reproduce the above copyright notice, this list of
+ *    conditions and the following disclaimer in the documentation and/or other
+ *    materials provided with the distribution.
+ *
+ * 3. Neither the name of Nordic Semiconductor ASA nor the names of its
+ *    contributors may be used to endorse or promote products derived from this
+ *    software without specific prior written permission.
+ *
+ * 4. This software, with or without modification, must only be used with a
+ *    Nordic Semiconductor ASA integrated circuit.
+ *
+ * 5. Any software provided in binary form under this license must not be reverse
+ *    engineered, decompiled, modified and/or disassembled.
+ *
+ * THIS SOFTWARE IS PROVIDED BY NORDIC SEMICONDUCTOR ASA "AS IS" AND ANY EXPRESS
+ * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
+ * OF MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL NORDIC SEMICONDUCTOR ASA OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE
+ * GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+ * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
+#ifndef NRF_CRYPTO_ALLOCATOR_H__
+#define NRF_CRYPTO_ALLOCATOR_H__
+
+#include "nrf_assert.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Crypto library in bootloader case does not use dynamic allocation */
+#define NRF_CRYPTO_ALLOC(size) NULL; ASSERT(0)
+#define NRF_CRYPTO_ALLOC_ON_STACK(size) NULL; ASSERT(0)
+#define NRF_CRYPTO_FREE(ptr) (void)ptr;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* NRF_CRYPTO_ALLOCATOR_H__ */

project/dfu/secure_bootloader/pca10056_s140_ble/arm5_no_packs/RTE/Device/nRF52840_xxAA/arm_startup_nrf52840.s

@@ -0,0 +1,383 @@
+; Copyright (c) 2009-2021 ARM Limited. All rights reserved.
+; 
+;     SPDX-License-Identifier: Apache-2.0
+; 
+; Licensed under the Apache License, Version 2.0 (the License); you may
+; not use this file except in compliance with the License.
+; You may obtain a copy of the License at
+; 
+;     www.apache.org/licenses/LICENSE-2.0
+; 
+; Unless required by applicable law or agreed to in writing, software
+; distributed under the License is distributed on an AS IS BASIS, WITHOUT
+; WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+; See the License for the specific language governing permissions and
+; limitations under the License.
+; 
+; NOTICE: This file has been modified by Nordic Semiconductor ASA.
+
+                IF :DEF: __STARTUP_CONFIG
+#ifdef  __STARTUP_CONFIG
+#include "startup_config.h"
+#ifndef __STARTUP_CONFIG_STACK_ALIGNEMENT
+#define __STARTUP_CONFIG_STACK_ALIGNEMENT 3
+#endif
+#endif
+                ENDIF
+
+                IF :DEF: __STARTUP_CONFIG
+Stack_Size      EQU __STARTUP_CONFIG_STACK_SIZE
+                ELIF :DEF: __STACK_SIZE
+Stack_Size      EQU __STACK_SIZE
+                ELSE
+Stack_Size      EQU 16384
+                ENDIF
+                
+                IF :DEF: __STARTUP_CONFIG
+Stack_Align     EQU __STARTUP_CONFIG_STACK_ALIGNEMENT
+                ELSE
+Stack_Align     EQU 3
+                ENDIF
+
+                AREA    STACK, NOINIT, READWRITE, ALIGN=Stack_Align
+Stack_Mem       SPACE   Stack_Size
+__initial_sp
+
+                IF :DEF: __STARTUP_CONFIG
+Heap_Size       EQU __STARTUP_CONFIG_HEAP_SIZE
+                ELIF :DEF: __HEAP_SIZE
+Heap_Size       EQU __HEAP_SIZE
+                ELSE
+Heap_Size       EQU 16384
+                ENDIF
+
+                AREA    HEAP, NOINIT, READWRITE, ALIGN=3
+__heap_base
+Heap_Mem        SPACE   Heap_Size
+__heap_limit
+
+                PRESERVE8
+                THUMB
+
+; Vector Table Mapped to Address 0 at Reset
+
+                AREA    RESET, DATA, READONLY
+                EXPORT  __Vectors
+                EXPORT  __Vectors_End
+                EXPORT  __Vectors_Size
+
+__Vectors       DCD     __initial_sp              ; Top of Stack
+                DCD     Reset_Handler
+                DCD     NMI_Handler
+                DCD     HardFault_Handler
+                DCD     MemoryManagement_Handler
+                DCD     BusFault_Handler
+                DCD     UsageFault_Handler
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     SVC_Handler
+                DCD     DebugMon_Handler
+                DCD     0                         ; Reserved
+                DCD     PendSV_Handler
+                DCD     SysTick_Handler
+
+                ; External Interrupts
+                DCD     POWER_CLOCK_IRQHandler
+                DCD     RADIO_IRQHandler
+                DCD     UARTE0_UART0_IRQHandler
+                DCD     SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0_IRQHandler
+                DCD     SPIM1_SPIS1_TWIM1_TWIS1_SPI1_TWI1_IRQHandler
+                DCD     NFCT_IRQHandler
+                DCD     GPIOTE_IRQHandler
+                DCD     SAADC_IRQHandler
+                DCD     TIMER0_IRQHandler
+                DCD     TIMER1_IRQHandler
+                DCD     TIMER2_IRQHandler
+                DCD     RTC0_IRQHandler
+                DCD     TEMP_IRQHandler
+                DCD     RNG_IRQHandler
+                DCD     ECB_IRQHandler
+                DCD     CCM_AAR_IRQHandler
+                DCD     WDT_IRQHandler
+                DCD     RTC1_IRQHandler
+                DCD     QDEC_IRQHandler
+                DCD     COMP_LPCOMP_IRQHandler
+                DCD     SWI0_EGU0_IRQHandler
+                DCD     SWI1_EGU1_IRQHandler
+                DCD     SWI2_EGU2_IRQHandler
+                DCD     SWI3_EGU3_IRQHandler
+                DCD     SWI4_EGU4_IRQHandler
+                DCD     SWI5_EGU5_IRQHandler
+                DCD     TIMER3_IRQHandler
+                DCD     TIMER4_IRQHandler
+                DCD     PWM0_IRQHandler
+                DCD     PDM_IRQHandler
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     MWU_IRQHandler
+                DCD     PWM1_IRQHandler
+                DCD     PWM2_IRQHandler
+                DCD     SPIM2_SPIS2_SPI2_IRQHandler
+                DCD     RTC2_IRQHandler
+                DCD     I2S_IRQHandler
+                DCD     FPU_IRQHandler
+                DCD     USBD_IRQHandler
+                DCD     UARTE1_IRQHandler
+                DCD     QSPI_IRQHandler
+                DCD     CRYPTOCELL_IRQHandler
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     PWM3_IRQHandler
+                DCD     0                         ; Reserved
+                DCD     SPIM3_IRQHandler
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+                DCD     0                         ; Reserved
+
+__Vectors_End
+
+__Vectors_Size  EQU     __Vectors_End - __Vectors
+
+                AREA    |.text|, CODE, READONLY
+
+; Reset Handler
+
+
+Reset_Handler   PROC
+                EXPORT  Reset_Handler             [WEAK]
+                IMPORT  SystemInit
+                IMPORT  __main
+
+
+                LDR     R0, =SystemInit
+                BLX     R0
+                LDR     R0, =__main
+                BX      R0
+                ENDP
+
+; Dummy Exception Handlers (infinite loops which can be modified)
+
+NMI_Handler     PROC
+                EXPORT  NMI_Handler               [WEAK]
+                B       .
+                ENDP
+HardFault_Handler\
+                PROC
+                EXPORT  HardFault_Handler         [WEAK]
+                B       .
+                ENDP
+MemoryManagement_Handler\
+                PROC
+                EXPORT  MemoryManagement_Handler  [WEAK]
+                B       .
+                ENDP
+BusFault_Handler\
+                PROC
+                EXPORT  BusFault_Handler          [WEAK]
+                B       .
+                ENDP
+UsageFault_Handler\
+                PROC
+                EXPORT  UsageFault_Handler        [WEAK]
+                B       .
+                ENDP
+SVC_Handler     PROC
+                EXPORT  SVC_Handler               [WEAK]
+                B       .
+                ENDP
+DebugMon_Handler\
+                PROC
+                EXPORT  DebugMon_Handler          [WEAK]
+                B       .
+                ENDP
+PendSV_Handler  PROC
+                EXPORT  PendSV_Handler            [WEAK]
+                B       .
+                ENDP
+SysTick_Handler PROC
+                EXPORT  SysTick_Handler           [WEAK]
+                B       .
+                ENDP
+
+Default_Handler PROC
+
+                EXPORT   POWER_CLOCK_IRQHandler [WEAK]
+                EXPORT   RADIO_IRQHandler [WEAK]
+                EXPORT   UARTE0_UART0_IRQHandler [WEAK]
+                EXPORT   SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0_IRQHandler [WEAK]
+                EXPORT   SPIM1_SPIS1_TWIM1_TWIS1_SPI1_TWI1_IRQHandler [WEAK]
+                EXPORT   NFCT_IRQHandler [WEAK]
+                EXPORT   GPIOTE_IRQHandler [WEAK]
+                EXPORT   SAADC_IRQHandler [WEAK]
+                EXPORT   TIMER0_IRQHandler [WEAK]
+                EXPORT   TIMER1_IRQHandler [WEAK]
+                EXPORT   TIMER2_IRQHandler [WEAK]
+                EXPORT   RTC0_IRQHandler [WEAK]
+                EXPORT   TEMP_IRQHandler [WEAK]
+                EXPORT   RNG_IRQHandler [WEAK]
+                EXPORT   ECB_IRQHandler [WEAK]
+                EXPORT   CCM_AAR_IRQHandler [WEAK]
+                EXPORT   WDT_IRQHandler [WEAK]
+                EXPORT   RTC1_IRQHandler [WEAK]
+                EXPORT   QDEC_IRQHandler [WEAK]
+                EXPORT   COMP_LPCOMP_IRQHandler [WEAK]
+                EXPORT   SWI0_EGU0_IRQHandler [WEAK]
+                EXPORT   SWI1_EGU1_IRQHandler [WEAK]
+                EXPORT   SWI2_EGU2_IRQHandler [WEAK]
+                EXPORT   SWI3_EGU3_IRQHandler [WEAK]
+                EXPORT   SWI4_EGU4_IRQHandler [WEAK]
+                EXPORT   SWI5_EGU5_IRQHandler [WEAK]
+                EXPORT   TIMER3_IRQHandler [WEAK]
+                EXPORT   TIMER4_IRQHandler [WEAK]
+                EXPORT   PWM0_IRQHandler [WEAK]
+                EXPORT   PDM_IRQHandler [WEAK]
+                EXPORT   MWU_IRQHandler [WEAK]
+                EXPORT   PWM1_IRQHandler [WEAK]
+                EXPORT   PWM2_IRQHandler [WEAK]
+                EXPORT   SPIM2_SPIS2_SPI2_IRQHandler [WEAK]
+                EXPORT   RTC2_IRQHandler [WEAK]
+                EXPORT   I2S_IRQHandler [WEAK]
+                EXPORT   FPU_IRQHandler [WEAK]
+                EXPORT   USBD_IRQHandler [WEAK]
+                EXPORT   UARTE1_IRQHandler [WEAK]
+                EXPORT   QSPI_IRQHandler [WEAK]
+                EXPORT   CRYPTOCELL_IRQHandler [WEAK]
+                EXPORT   PWM3_IRQHandler [WEAK]
+                EXPORT   SPIM3_IRQHandler [WEAK]
+POWER_CLOCK_IRQHandler
+RADIO_IRQHandler
+UARTE0_UART0_IRQHandler
+SPIM0_SPIS0_TWIM0_TWIS0_SPI0_TWI0_IRQHandler
+SPIM1_SPIS1_TWIM1_TWIS1_SPI1_TWI1_IRQHandler
+NFCT_IRQHandler
+GPIOTE_IRQHandler
+SAADC_IRQHandler
+TIMER0_IRQHandler
+TIMER1_IRQHandler
+TIMER2_IRQHandler
+RTC0_IRQHandler
+TEMP_IRQHandler
+RNG_IRQHandler
+ECB_IRQHandler
+CCM_AAR_IRQHandler
+WDT_IRQHandler
+RTC1_IRQHandler
+QDEC_IRQHandler
+COMP_LPCOMP_IRQHandler
+SWI0_EGU0_IRQHandler
+SWI1_EGU1_IRQHandler
+SWI2_EGU2_IRQHandler
+SWI3_EGU3_IRQHandler
+SWI4_EGU4_IRQHandler
+SWI5_EGU5_IRQHandler
+TIMER3_IRQHandler
+TIMER4_IRQHandler
+PWM0_IRQHandler
+PDM_IRQHandler
+MWU_IRQHandler
+PWM1_IRQHandler
+PWM2_IRQHandler
+SPIM2_SPIS2_SPI2_IRQHandler
+RTC2_IRQHandler
+I2S_IRQHandler
+FPU_IRQHandler
+USBD_IRQHandler
+UARTE1_IRQHandler
+QSPI_IRQHandler
+CRYPTOCELL_IRQHandler
+PWM3_IRQHandler
+SPIM3_IRQHandler
+                B .
+                ENDP
+                ALIGN
+
+; User Initial Stack & Heap
+
+                IF      :DEF:__MICROLIB
+
+                EXPORT  __initial_sp
+                EXPORT  __heap_base
+                EXPORT  __heap_limit
+
+                ELSE
+
+                IMPORT  __use_two_region_memory
+                EXPORT  __user_initial_stackheap
+
+__user_initial_stackheap PROC
+
+                LDR     R0, = Heap_Mem
+                LDR     R1, = (Stack_Mem + Stack_Size)
+                LDR     R2, = (Heap_Mem + Heap_Size)
+                LDR     R3, = Stack_Mem
+                BX      LR
+                ENDP
+
+                ALIGN
+
+                ENDIF
+
+                END