rbb: 응답 시에도 IMU 온도 레지스터를 4회 연속 read 후 평균값 사용

+ 테스트 로그 삭제

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

@@ -122,11 +122,6 @@ void all_sensors(void)
     buf[18] = (uint8_t)(info_temp >> 8);
     buf[19] = (uint8_t)(info_temp & 0xFF);
 
-    DBG_PRINTF("[RBB] IMU temp_x100=%u (%u.%02u C)\r\n",
-               info_temp,
-               info_temp / 100,
-               info_temp % 100);
-
     dr_binary_tx_safe(buf, 10);  /* 20 bytes = 10 words */
 }
 
@@ -174,11 +169,6 @@ void all_sensors_batt_temp(void)
     buf[6] = (uint8_t)(info_temp >> 8);
     buf[7] = (uint8_t)(info_temp & 0xFF);
 
-    DBG_PRINTF("[RBB] IMU temp_x100=%u (%u.%02u C)\r\n",
-               info_temp,
-               info_temp / 100,
-               info_temp % 100);
-
     dr_binary_tx_safe(buf, 4);  /* 8 bytes = 4 words, CRC appended by TX layer */
 }
 

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

@@ -1224,10 +1224,6 @@ static bool maa_async_send_header(void)
     buf[5] = (uint8_t)(ch_info & 0xFF);
     buf[6] = (uint8_t)(ch->num_samples >> 8);
     buf[7] = (uint8_t)(ch->num_samples & 0xFF);
-    ADC_LOG("reb ch_info: session=%u, ch=%u, value=0x%04X",
-            g_maa_ctx.ch_session,
-            g_maa_ctx.current_ch,
-            ch_info);
 
     uint16_t dst_idx = MAA_REB_HEADER_LEN;
     uint16_t first_chunk = (total_data_bytes > MAA_REB_DATA_LEN) ? MAA_REB_DATA_LEN : total_data_bytes;

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

@@ -192,14 +192,6 @@ void battery_event_handler(nrf_drv_saadc_evt_t const * p_event)
             {
                 DBG_PRINTF("[SAFETY] IMU temp read failed\r\n");
             }
-            else
-            {
-                int temp_x100 = (int)(imu_temp_c * 100.0f);
-                DBG_PRINTF("[SAFETY] 60s IMU temp_x100=%d (%d.%02d C)\r\n",
-                           temp_x100,
-                           temp_x100 / 100,
-                           temp_x100 % 100);
-            }
 
             safety_check_complete(imu_temp_c);
         }

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

@@ -491,10 +491,13 @@ static uint16_t imu_temp_raw_to_x100(int16_t temp_raw)
 int imu_read_direct(void)
 {
 	uint8_t raw[14];  /* temp 2 bytes + accel 6 bytes + gyro 6 bytes */
+	uint8_t temp_raw_bytes[2];
 	int32_t accel[3], gyro[3];
 	int16_t temp_raw;
+	int32_t temp_sum;
 	uint8_t reg;
 	uint32_t ret;
+	uint8_t i;
 
 	imu_direct_twi_init_once();
 
@@ -543,6 +546,7 @@ int imu_read_direct(void)
 	 * raw[8..13] = gyro X,Y,Z (2 bytes each, MSB first)
 	 */
 	temp_raw = (int16_t)((raw[0] << 8) | raw[1]);
+	temp_sum = temp_raw;
 	accel[0] = (int16_t)((raw[2] << 8) | raw[3]);
 	accel[1] = (int16_t)((raw[4] << 8) | raw[5]);
 	accel[2] = (int16_t)((raw[6] << 8) | raw[7]);
@@ -564,6 +568,30 @@ int imu_read_direct(void)
 
 	if (info4 == true)
 	{
+		reg = REG_TEMP_DATA1;
+		for (i = 1; i < IMU_TEMP_AVG_SAMPLES; i++)
+		{
+			ret = icm42670_twi_tx(IMU_I2C_ADDR, &reg, 1, true);
+			if (ret)
+			{
+				DBG_PRINTF("[IMU] temp avg tx FAIL %u\r\n", ret);
+				break;
+			}
+
+			ret = icm42670_twi_rx(IMU_I2C_ADDR, temp_raw_bytes, sizeof(temp_raw_bytes));
+			if (ret)
+			{
+				DBG_PRINTF("[IMU] temp avg rx FAIL %u\r\n", ret);
+				break;
+			}
+
+			temp_sum += (int16_t)((temp_raw_bytes[0] << 8) | temp_raw_bytes[1]);
+		}
+		if (i == IMU_TEMP_AVG_SAMPLES)
+		{
+			temp_raw = (int16_t)(temp_sum / (int32_t)IMU_TEMP_AVG_SAMPLES);
+		}
+
 		uint16_t temp_x100 = imu_temp_raw_to_x100(temp_raw);
 
 		/* info4 mode: store in global array (sent as rbb: packet by mbb?) */