TMP235 온도 센서 → IMU register direact read 대체

- rbb: 응답 패킷, 60초 주기 safety check 온도 소스를 TMP235에서 IMU TEMP_DATA 레지스터로 변경
- IMU 온도 레지스터를 4회 연속 read 후 평균값 사용
- rbb: 응답 패킷 포맷은 섭씨 x100 형식 유지

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);

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 */
 }