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;
     }
-
+    else
-    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);
+        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 */
 }
 

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 (imu_read_temperature_x100(NULL, &imu_temp_c) != 0)
-            if (!dr_piezo_is_power_on())
             {
-                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 --- */

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. */

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;
+	imu_direct_twi_init_once();
-
-	/* 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 */
 	{
@@ -504,8 +518,8 @@ int imu_read_direct(void)
 		dr_sd_delay_ms(80);
 	}
 
-	/* Read 12 consecutive bytes from ACCEL_DATA_X1 (0x0B~0x16) */
+	/* Read 14 consecutive bytes from TEMP_DATA1 (0x09~0x16): temp + accel + gyro */
-	reg = REG_ACCEL_X1;
+	reg = REG_TEMP_DATA1;
 	ret = icm42670_twi_tx(IMU_I2C_ADDR, &reg, 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[0..1] = temperature
-	 * raw[6..11] = gyro X,Y,Z (2 bytes each, MSB first)
+	 * 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]);
+	temp_raw = (int16_t)((raw[0] << 8) | raw[1]);
-	accel[1] = (int16_t)((raw[2] << 8) | raw[3]);
+	accel[0] = (int16_t)((raw[2] << 8) | raw[3]);
-	accel[2] = (int16_t)((raw[4] << 8) | raw[5]);
+	accel[1] = (int16_t)((raw[4] << 8) | raw[5]);
-	gyro[0]  = (int16_t)((raw[6] << 8) | raw[7]);
+	accel[2] = (int16_t)((raw[6] << 8) | raw[7]);
-	gyro[1]  = (int16_t)((raw[8] << 8) | raw[9]);
+	gyro[0]  = (int16_t)((raw[8] << 8) | raw[9]);
-	gyro[2]  = (int16_t)((raw[10] << 8) | raw[11]);
+	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, &reg, 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
  *

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.

project/ble_peripheral/ble_app_bladder_patch/pca10056/s140/arm5_no_packs/ble_app_bladder_patch_s140.uvoptx

@@ -1156,7 +1156,7 @@
       <GroupNumber>1</GroupNumber>
       <FileNumber>1</FileNumber>
       <FileType>1</FileType>
-      <tvExp>1</tvExp>
+      <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
       <PathWithFileName>..\..\..\main.c</PathWithFileName>