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IMU gyro/accel config fix and README piezo frequency table correction

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- Add GYRO_CONFIG0/ACCEL_CONFIG0 register setup in imu_read_direct() to fix gyro always returning -32768
- Increase sensor startup delay from 2ms to 80ms for reliable first read
- Put IMU back to sleep after msp? read to save power
- Fix piezo frequency table: swap freq 0/1 values, remove unused freq 5

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
This commit is contained in:
jh.Chun
2026-03-13 17:27:17 +09:00
parent 590922638c
commit a77919b4d3
2 changed files with 24 additions and 9 deletions
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5
README.md
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@@ -37,12 +37,11 @@ VesiScan BASIC은 피에조 초음파 트랜스듀서와 IMU 센서를 이용하
| freq | 주파수 | | freq | 주파수 |
|------|--------| |------|--------|
| 0 (기본) | 2.1 MHz | | 0 | 1.8 MHz |
| 1 | 1.8 MHz | | 1 (기본) | 2.1 MHz |
| 2 | 2.0 MHz | | 2 | 2.0 MHz |
| 3 | 1.7 MHz | | 3 | 1.7 MHz |
| 4 | 2.2 MHz | | 4 | 2.2 MHz |
| 5 | 1.9 MHz |
### 8채널 MUX 매핑 ### 8채널 MUX 매핑

28
project/ble_peripheral/ble_app_bladder_patch/icm42670p/app_raw/app_raw.c
View File

@@ -17,7 +17,6 @@
#include "app_util_platform.h" #include "app_util_platform.h"
#include "main.h" #include "main.h"
#include "meas_pd_48.h"
#include <cmd_parse.h> #include <cmd_parse.h>
#include "debug_print.h" #include "debug_print.h"
#include "nrf_delay.h" #include "nrf_delay.h"
@@ -51,14 +50,13 @@ static int32_t icm_mounting_matrix[9] = {(1<<30), 0, 0,
0, (1<<30), 0, 0, (1<<30), 0,
0, 0, (1<<30)}; 0, 0, (1<<30)};
#endif #endif
extern bool custom_add_data; bool custom_add_data;
extern bool motion_raw_data_enabled; extern bool motion_raw_data_enabled;
extern char ble_tx_buffer[BLE_NUS_MAX_DATA_LEN]; extern char ble_tx_buffer[BLE_NUS_MAX_DATA_LEN];
extern bool go_pdread;
extern which_cmd_t cmd_type_t; extern which_cmd_t cmd_type_t;
uint16_t ssp_data[6]={0,}; uint16_t ssp_data[6]={0,};
extern bool info4; //cmd_parse extern bool info4; //cmd_parse
extern volatile uint16_t info_imu[6]; volatile uint16_t info_imu[6];
/* -------------------------------------------------------------------------------------- /* --------------------------------------------------------------------------------------
* static function declaration * static function declaration
@@ -278,7 +276,6 @@ void imu_callback(inv_imu_sensor_event_t *event)
info_imu[3] = (uint16_t)gyro[0]; info_imu[3] = (uint16_t)gyro[0];
info_imu[4] = (uint16_t) gyro[1]; info_imu[4] = (uint16_t) gyro[1];
info_imu[5] = (uint16_t)gyro[2]; info_imu[5] = (uint16_t)gyro[2];
go_pdread = true;
} }
else if(cmd_type_t == CMD_UART) { else if(cmd_type_t == CMD_UART) {
@@ -354,11 +351,23 @@ int imu_read_direct(void)
twi_ready = true; twi_ready = true;
} }
/* Configure gyro: ±2000dps, 100Hz ODR — GYRO_CONFIG0(0x20) = 0x09 */
{
uint8_t gyro_cfg[2] = { 0x20, 0x09 };
icm42670_twi_tx(IMU_I2C_ADDR, gyro_cfg, 2, false);
}
/* Configure accel: ±4g, 100Hz ODR — ACCEL_CONFIG0(0x21) = 0x29 */
{
uint8_t accel_cfg[2] = { 0x21, 0x29 };
icm42670_twi_tx(IMU_I2C_ADDR, accel_cfg, 2, false);
}
/* Enable accel (low-noise) + gyro (low-noise): PWR_MGMT0 = 0x0F */ /* Enable accel (low-noise) + gyro (low-noise): PWR_MGMT0 = 0x0F */
{ {
uint8_t pwr_cmd[2] = { 0x1F, 0x0F }; /* reg=0x1F, val=0x0F */ uint8_t pwr_cmd[2] = { 0x1F, 0x0F }; /* reg=0x1F, val=0x0F */
icm42670_twi_tx(IMU_I2C_ADDR, pwr_cmd, 2, false); icm42670_twi_tx(IMU_I2C_ADDR, pwr_cmd, 2, false);
nrf_delay_ms(2); /* wait for sensor startup */ nrf_delay_ms(80); /* gyro needs min 45ms + margin for first valid sample */
} }
/* Read 12 bytes starting from ACCEL_DATA_X1 (0x0B..0x16) */ /* Read 12 bytes starting from ACCEL_DATA_X1 (0x0B..0x16) */
@@ -398,6 +407,13 @@ int imu_read_direct(void)
format_data(imu_bin_buffer, "rsp:", ssp_data, 12); format_data(imu_bin_buffer, "rsp:", ssp_data, 12);
binary_tx_handler(imu_bin_buffer, 8); binary_tx_handler(imu_bin_buffer, 8);
/* Put IMU back to sleep: accel OFF + gyro OFF */
{
uint8_t pwr_off[2] = { 0x1F, 0x00 }; /* reg=PWR_MGMT0, val=0x00 */
icm42670_twi_tx(IMU_I2C_ADDR, pwr_off, 2, false);
DBG_PRINTF("[IMU] sleep\r\n");
}
DBG_PRINTF("[IMU] sent OK\r\n"); DBG_PRINTF("[IMU] sent OK\r\n");
return 0; return 0;
} }