diff --git a/project/ble_peripheral/ble_app_bladder_patch/command/cmd_common.h b/project/ble_peripheral/ble_app_bladder_patch/command/cmd_common.h
index e8c2cad..912bab7 100644
--- a/project/ble_peripheral/ble_app_bladder_patch/command/cmd_common.h
+++ b/project/ble_peripheral/ble_app_bladder_patch/command/cmd_common.h
@@ -48,6 +48,7 @@ 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 int imu_read_temperature_x100(uint16_t *temp_x100, float *temp_c);
extern int imu_fifo_capture_start(void);
extern int imu_fifo_capture_stop_and_send_rim(void);
extern void battery_timer_stop(void);
diff --git a/project/ble_peripheral/ble_app_bladder_patch/command/handlers/cmd_sensor.c b/project/ble_peripheral/ble_app_bladder_patch/command/handlers/cmd_sensor.c
index ed213ad..6c5a5a0 100644
--- a/project/ble_peripheral/ble_app_bladder_patch/command/handlers/cmd_sensor.c
+++ b/project/ble_peripheral/ble_app_bladder_patch/command/handlers/cmd_sensor.c
@@ -80,7 +80,7 @@ int Cmd_msp(const ParsedCmd *cmd)
* 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
+ * Order: battery -> IMU 6-axis + IMU temperature
* Response: rbb: [batt 2B] [IMU 6x2B] [temp 2B] = 20 bytes = 10 words
*============================================================================*/
void all_sensors(void)
@@ -98,23 +98,11 @@ void all_sensors(void)
dr_sd_delay_ms(1);
}
- /* 2. IMU 6-axis single read -> info_imu[6] */
+ /* 2. IMU 6-axis single read + IMU die temperature -> info_imu[6], info_temp */
+ info_temp = 0xFFFF;
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
@@ -134,6 +122,11 @@ 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 */
}
@@ -143,7 +136,7 @@ void all_sensors(void)
* Emits rbb: [batt 2B] [temp 2B] = 8 bytes = 4 words (no IMU).
* Not used by mtb? anymore; kept for optional host/tests.
*
- * Order: battery -> (Piezo TX/RX ON) -> temperature
+ * Order: battery -> IMU temperature
* Response: rbb: [batt 2B] [temp 2B] = 8 bytes = 4 words
* TX layer appends CRC 2B, so the BLE packet is 10B total.
*============================================================================*/
@@ -151,6 +144,7 @@ void all_sensors_batt_temp(void)
{
uint8_t *buf;
uint32_t timeout_cnt;
+ uint16_t imu_temp_x100;
info4 = true;
@@ -161,16 +155,13 @@ void all_sensors_batt_temp(void)
dr_sd_delay_ms(1);
}
- if (!dr_piezo_is_power_on())
+ if (imu_read_temperature_x100(&imu_temp_x100, NULL) == 0)
{
- dr_piezo_power_on();
+ info_temp = imu_temp_x100;
}
-
- tmp235_saadc_done = false;
- tmp235_voltage_level_meas();
- for (timeout_cnt = 0; !tmp235_saadc_done && timeout_cnt < 100; timeout_cnt++)
+ else
{
- dr_sd_delay_ms(1);
+ info_temp = 0xFFFF;
}
info4 = false;
@@ -183,6 +174,11 @@ 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 */
}
diff --git a/project/ble_peripheral/ble_app_bladder_patch/measurement/battery/battery_saadc.c b/project/ble_peripheral/ble_app_bladder_patch/measurement/battery/battery_saadc.c
index 2d45aa5..96cd834 100644
--- a/project/ble_peripheral/ble_app_bladder_patch/measurement/battery/battery_saadc.c
+++ b/project/ble_peripheral/ble_app_bladder_patch/measurement/battery/battery_saadc.c
@@ -4,7 +4,7 @@
* 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
+ * - Sequential: battery -> IMU 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
*
@@ -28,6 +28,7 @@
#include "battery_saadc.h"
#include "main_timer.h"
#include "tmp235_q1.h"
+#include "app_raw.h"
#include "dr_piezo.h"
#include "debug_print.h"
@@ -59,7 +60,7 @@ APP_TIMER_DEF(m_battery_loop_timer_id);
/* 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 */
+/* Safety check mode flag — legacy TMP235 path */
bool safety_check_mode = false;
/* SAADC callback completion flag — used by all_sensors() to wait */
@@ -179,19 +180,28 @@ void battery_event_handler(nrf_drv_saadc_evt_t const * p_event)
/* 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 --- */
+ /* --- Safety check mode: store voltage, then check IMU die temperature --- */
if (low_battery_check == true)
{
+ float imu_temp_c = -273.15f;
+
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())
+ if (imu_read_temperature_x100(NULL, &imu_temp_c) != 0)
{
- dr_piezo_power_on();
+ DBG_PRINTF("[SAFETY] IMU temp read failed\r\n");
}
- tmp235_voltage_level_meas();
+ 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);
}
/* --- info4 mode: store value for mbb? bulk response --- */
diff --git a/project/ble_peripheral/ble_app_bladder_patch/measurement/battery/battery_saadc.h b/project/ble_peripheral/ble_app_bladder_patch/measurement/battery/battery_saadc.h
index 09002a0..c8357cb 100644
--- a/project/ble_peripheral/ble_app_bladder_patch/measurement/battery/battery_saadc.h
+++ b/project/ble_peripheral/ble_app_bladder_patch/measurement/battery/battery_saadc.h
@@ -8,7 +8,7 @@
* battery_timer_init/start/stop() : 60-second periodic monitoring timer
*
* Periodic safety check (every 60 s):
- * Battery -> Temperature sequential measurement via SAADC.
+ * Battery SAADC -> IMU die temperature sequential measurement.
* Auto power-off after 5 consecutive readings below LOW_BATTERY_VOLTAGE (3500 mV)
* or above OVER_TEMPERATURE_THRESHOLD (40 C).
*============================================================================*/
@@ -25,10 +25,10 @@
/* 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 */
+/* Safety check mode flag — legacy TMP235 path */
extern bool safety_check_mode;
-/* Called by tmp235 handler when safety check temperature measurement completes */
+/* Called when safety check temperature measurement completes */
void safety_check_complete(float temp_c);
/* Start a single async battery measurement. Result handled in callback. */
diff --git a/project/ble_peripheral/ble_app_bladder_patch/measurement/imu/app_raw/app_raw.c b/project/ble_peripheral/ble_app_bladder_patch/measurement/imu/app_raw/app_raw.c
index 2728dc9..9dd6b9d 100644
--- a/project/ble_peripheral/ble_app_bladder_patch/measurement/imu/app_raw/app_raw.c
+++ b/project/ble_peripheral/ble_app_bladder_patch/measurement/imu/app_raw/app_raw.c
@@ -25,7 +25,7 @@
* - 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
+ * - Configure sensor -> power ON -> wait 80ms -> read temp + 6-axis -> sleep
*
* Mounting matrix:
* 3x3 rotation matrix in Q30 fixed-point format, correcting the sensor's
@@ -93,6 +93,7 @@ extern which_cmd_t cmd_type_t; /* Current command source (
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 */
+extern volatile uint16_t info_temp; /* Global temperature cache (deg C x 100) */
/* --------------------------------------------------------------------------------------
* static function declaration
@@ -447,7 +448,7 @@ static void apply_mounting_matrix(const int32_t matrix[9], int32_t raw[3])
* 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)
+ * 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
* 9) Send via BLE with "rsp:" tag
@@ -462,7 +463,26 @@ static void apply_mounting_matrix(const int32_t matrix[9], int32_t raw[3])
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 */
+#define REG_TEMP_DATA1 0x09 /* TEMP_DATA1 — temperature upper byte register */
+#define IMU_TEMP_AVG_SAMPLES 4U
+
+static bool s_direct_twi_ready = false;
+
+static void imu_direct_twi_init_once(void)
+{
+ /* TWI (I2C) init — performed only once (re-init ensures clean state) */
+ if (!s_direct_twi_ready) {
+ inv_i2c_master_uninitialize();
+ inv_i2c_master_initialize();
+ s_direct_twi_ready = true;
+ }
+}
+
+static uint16_t imu_temp_raw_to_x100(int16_t temp_raw)
+{
+ float temp_c = 25.0f + ((float)temp_raw / 128.0f);
+ return (uint16_t)(temp_c * 100.0f);
+}
/* --------------------------------------------------------------------------------------
* Direct IMU register read — raw I2C, no DRDY, sends rsp: via BLE
@@ -470,19 +490,13 @@ extern const nrfx_twi_t m_twi_icm42670;
* -------------------------------------------------------------------------------------- */
int imu_read_direct(void)
{
- uint8_t raw[12]; /* accel 6 bytes + gyro 6 bytes */
+ uint8_t raw[14]; /* temp 2 bytes + accel 6 bytes + gyro 6 bytes */
int32_t accel[3], gyro[3];
+ int16_t temp_raw;
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;
- }
+ imu_direct_twi_init_once();
/* Gyro config: GYRO_CONFIG0(0x20) = 0x09 -> +/-2000dps FSR, 100Hz ODR */
{
@@ -504,8 +518,8 @@ int imu_read_direct(void)
dr_sd_delay_ms(80);
}
- /* Read 12 consecutive bytes from ACCEL_DATA_X1 (0x0B~0x16) */
- reg = REG_ACCEL_X1;
+ /* Read 14 consecutive bytes from TEMP_DATA1 (0x09~0x16): temp + accel + gyro */
+ reg = REG_TEMP_DATA1;
ret = icm42670_twi_tx(IMU_I2C_ADDR, ®, 1, true); /* Send register address (no STOP) */
if (ret)
@@ -514,7 +528,7 @@ int imu_read_direct(void)
return -1;
}
- ret = icm42670_twi_rx(IMU_I2C_ADDR, raw, 12); /* Receive 12 bytes of data */
+ ret = icm42670_twi_rx(IMU_I2C_ADDR, raw, sizeof(raw));
if (ret)
{
@@ -524,15 +538,17 @@ int imu_read_direct(void)
/*
* 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)
+ * raw[0..1] = temperature
+ * raw[2..7] = accel X,Y,Z (2 bytes each, MSB first)
+ * raw[8..13] = 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]);
+ temp_raw = (int16_t)((raw[0] << 8) | raw[1]);
+ 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]);
+ gyro[0] = (int16_t)((raw[8] << 8) | raw[9]);
+ 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);
@@ -548,6 +564,8 @@ int imu_read_direct(void)
if (info4 == true)
{
+ uint16_t temp_x100 = imu_temp_raw_to_x100(temp_raw);
+
/* info4 mode: store in global array (sent as rbb: packet by mbb?) */
info_imu[0] = ssp_data[0];
info_imu[1] = ssp_data[1];
@@ -555,6 +573,7 @@ int imu_read_direct(void)
info_imu[3] = ssp_data[3];
info_imu[4] = ssp_data[4];
info_imu[5] = ssp_data[5];
+ info_temp = temp_x100;
}
else
{
@@ -572,6 +591,70 @@ int imu_read_direct(void)
return 0;
}
+int imu_read_temperature_x100(uint16_t *temp_x100, float *temp_c)
+{
+ uint8_t raw[2];
+ uint8_t reg = REG_TEMP_DATA1;
+ int16_t temp_raw;
+ int32_t temp_sum = 0;
+ uint32_t ret;
+ uint8_t i;
+
+ if (temp_x100 == NULL && temp_c == NULL)
+ {
+ return -1;
+ }
+
+ imu_direct_twi_init_once();
+
+ /* Power ON briefly so the temperature register is refreshed before reading. */
+ {
+ uint8_t pwr_cmd[2] = { 0x1F, 0x0F };
+ icm42670_twi_tx(IMU_I2C_ADDR, pwr_cmd, 2, false);
+ dr_sd_delay_ms(80);
+ }
+
+ for (i = 0; i < IMU_TEMP_AVG_SAMPLES; i++)
+ {
+ ret = icm42670_twi_tx(IMU_I2C_ADDR, ®, 1, true);
+ if (ret)
+ {
+ uint8_t pwr_off[2] = { 0x1F, 0x00 };
+ icm42670_twi_tx(IMU_I2C_ADDR, pwr_off, 2, false);
+ DBG_PRINTF("[IMU] temp tx FAIL %u\r\n", ret);
+ return -2;
+ }
+
+ ret = icm42670_twi_rx(IMU_I2C_ADDR, raw, sizeof(raw));
+ if (ret)
+ {
+ uint8_t pwr_off[2] = { 0x1F, 0x00 };
+ icm42670_twi_tx(IMU_I2C_ADDR, pwr_off, 2, false);
+ DBG_PRINTF("[IMU] temp rx FAIL %u\r\n", ret);
+ return -3;
+ }
+
+ temp_sum += (int16_t)((raw[0] << 8) | raw[1]);
+ }
+
+ temp_raw = (int16_t)(temp_sum / (int32_t)IMU_TEMP_AVG_SAMPLES);
+ if (temp_x100 != NULL)
+ {
+ *temp_x100 = imu_temp_raw_to_x100(temp_raw);
+ }
+ if (temp_c != NULL)
+ {
+ *temp_c = 25.0f + ((float)temp_raw / 128.0f);
+ }
+
+ {
+ uint8_t pwr_off[2] = { 0x1F, 0x00 };
+ icm42670_twi_tx(IMU_I2C_ADDR, pwr_off, 2, false);
+ }
+
+ return 0;
+}
+
/* --------------------------------------------------------------------------------------
* mtb? FIFO capture support
*
diff --git a/project/ble_peripheral/ble_app_bladder_patch/measurement/imu/app_raw/app_raw.h b/project/ble_peripheral/ble_app_bladder_patch/measurement/imu/app_raw/app_raw.h
index d0b88d0..eacc80c 100644
--- a/project/ble_peripheral/ble_app_bladder_patch/measurement/imu/app_raw/app_raw.h
+++ b/project/ble_peripheral/ble_app_bladder_patch/measurement/imu/app_raw/app_raw.h
@@ -97,6 +97,14 @@ void imu_callback(inv_imu_sensor_event_t *event);
*/
int imu_read_direct(void);
+/**
+ * \brief Read IMU die temperature directly and return deg C x 100.
+ * \param[out] temp_x100 Optional temperature output in Celsius x 100.
+ * \param[out] temp_c Optional temperature output in Celsius.
+ * \return 0=success, negative=error
+ */
+int imu_read_temperature_x100(uint16_t *temp_x100, float *temp_c);
+
/**
* \brief Start IMU internal FIFO capture for mtb? test flow.
* Configures accel/gyro 100 Hz and flushes FIFO before capture.
diff --git a/project/ble_peripheral/ble_app_bladder_patch/pca10056/s140/arm5_no_packs/ble_app_bladder_patch_s140.uvoptx b/project/ble_peripheral/ble_app_bladder_patch/pca10056/s140/arm5_no_packs/ble_app_bladder_patch_s140.uvoptx
index dbea7d1..749690e 100644
--- a/project/ble_peripheral/ble_app_bladder_patch/pca10056/s140/arm5_no_packs/ble_app_bladder_patch_s140.uvoptx
+++ b/project/ble_peripheral/ble_app_bladder_patch/pca10056/s140/arm5_no_packs/ble_app_bladder_patch_s140.uvoptx
@@ -1156,7 +1156,7 @@
1
1
1
- 1
+ 0
0
0
..\..\..\main.c