IMU FIFO, direct 모두 데이터시트 축 기준 raw data로 통일

- 기존에는 direct read에 mounting matrix(좌표 보정) 적용, FIFO는 raw data
- 데이터시트 축 기준 raw data로 통일

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

@@ -20,16 +20,15 @@
  *      - 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)
+ *      - Keeps raw sensor axes (ICM42670P datasheet coordinate system)
  *      - 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 temp + 6-axis -> sleep
  *
- * Mounting matrix:
+ * Axis convention:
- *   3x3 rotation matrix in Q30 fixed-point format, correcting the sensor's
+ *   Raw ICM42670P datasheet X/Y/Z axes. No mounting matrix is applied.
- *   physical mounting orientation to match the software coordinate system.
  ******************************************************************************/
 
 #include "sdk_config.h"
@@ -67,25 +66,6 @@ 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 */
@@ -95,11 +75,6 @@ extern bool info4;                                 		/* info4 mode flag (set by
  volatile uint16_t info_imu[6];                    		/* Global array storing IMU data in info4 mode */
 volatile uint16_t info_temp;                		/* Global temperature cache (deg C x 100) */
 
-/* --------------------------------------------------------------------------------------
- *  static function declaration
- * -------------------------------------------------------------------------------------- */
-static void apply_mounting_matrix(const int32_t matrix[9], int32_t raw[3]);
-
 /* --------------------------------------------------------------------------------------
  *  Functions definition
  * -------------------------------------------------------------------------------------- */
@@ -263,7 +238,7 @@ static void get_accel_and_gyr_fsr(int16_t * accel_fsr_g, int16_t * gyro_fsr_dps)
  *   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)
+ *   2) Keep raw ICM42670P datasheet axes
  *   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
@@ -331,10 +306,6 @@ void imu_callback(inv_imu_sensor_event_t *event)
 	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)
@@ -406,37 +377,6 @@ void imu_callback(inv_imu_sensor_event_t *event)
 #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.
@@ -450,7 +390,7 @@ static void apply_mounting_matrix(const int32_t matrix[9], int32_t raw[3])
  *   5) Wait 80ms (gyro startup: min 45ms + margin)
  *   6) Read 14 consecutive bytes from TEMP_DATA1 (0x09) (temp 2 + accel 6 + gyro 6)
  *   7) Big-endian -> int16_t conversion
- *   8) Apply mounting matrix
+ *   8) Keep raw ICM42670P datasheet axes
  *   9) Send via BLE with "rsp:" tag
  *  10) Switch IMU to sleep mode (power saving)
  *
@@ -554,10 +494,6 @@ int imu_read_direct(void)
 	gyro[1]  = (int16_t)((raw[10] << 8) | raw[11]);
 	gyro[2]  = (int16_t)((raw[12] << 8) | raw[13]);
 
-	/* 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];