I am trying to program nrf52840 to print acceleration from mpu6050. But when I build the project, I get the error - undefined reference to `nrf_drv_twi_init'. Here is the main.c file.
#include <stdbool.h>
#include <stdio.h>
#include <stdint.h>
#include "nrf_drv_twi.h"
#include "nrf_delay.h"
#include "nrf.h"
// I2C (TWI) configuration
#define TWI_INSTANCE_ID 0
#define MPU6050_ADDR 0x68 // MPU6050 I2C address
#define MPU6050_REG_PWR_MGMT_1 0x6B
#define MPU6050_REG_ACCEL_XOUT_H 0x3B
#define MPU6050_REG_GYRO_XOUT_H 0x43
// TWI instance
static const nrf_drv_twi_t twi = NRF_DRV_TWI_INSTANCE(TWI_INSTANCE_ID);
// Function prototypes
void twi_init(void);
void mpu6050_init(void);
void mpu6050_write_byte(uint8_t reg, uint8_t data);
void mpu6050_read_bytes(uint8_t reg, uint8_t *data, uint8_t len);
void twi_init(void) {
nrf_drv_twi_config_t twi_config = {
.scl = 22,
.sda = 23,
.frequency = NRF_DRV_TWI_FREQ_400K,
.clear_bus_init = false
};
nrf_drv_twi_init(&twi, &twi_config, NULL, NULL);
nrf_drv_twi_enable(&twi);
}
void mpu6050_write_byte(uint8_t reg, uint8_t data) {
uint8_t buffer[2] = {reg, data};
nrf_drv_twi_tx(&twi, MPU6050_ADDR, buffer, sizeof(buffer), false);
}
void mpu6050_read_bytes(uint8_t reg, uint8_t *data, uint8_t len) {
nrf_drv_twi_tx(&twi, MPU6050_ADDR, ®, 1, true);
nrf_drv_twi_rx(&twi, MPU6050_ADDR, data, len);
}
void mpu6050_init(void) {
mpu6050_write_byte(MPU6050_REG_PWR_MGMT_1, 0x00); // Wake up sensor
}
int main(void) {
twi_init();
mpu6050_init();
uint8_t accel_data[6];
uint8_t gyro_data[6];
int16_t ax, ay, az, gx, gy, gz;
while (true) {
mpu6050_read_bytes(MPU6050_REG_ACCEL_XOUT_H, accel_data, 6);
mpu6050_read_bytes(MPU6050_REG_GYRO_XOUT_H, gyro_data, 6);
//printf("accel data = %d %d %d %d %d %d\n",accel_data[0],accel_data[1],accel_data[2],accel_data[3],accel_data[4],accel_data[5],accel_data[6]);
ax = (int16_t)((accel_data[0] << 8) | accel_data[1]);
ay = (int16_t)((accel_data[2] << 8) | accel_data[3]);
az = (int16_t)((accel_data[4] << 8) | accel_data[5]);
gx = (int16_t)((gyro_data[0] << 8) | gyro_data[1]);
gy = (int16_t)((gyro_data[2] << 8) | gyro_data[3]);
gz = (int16_t)((gyro_data[4] << 8) | gyro_data[5]);
printf("Accel: X=%d, Y=%d, Z=%d; Gyro: X=%d, Y=%d, Z=%d\n", ax, ay, az, gx, gy, gz);
nrf_delay_ms(1000);
}
}
This is the error I am getting.
Executing task: nRF Connect: Build: fund_less6_exer1_solution/build (active) Building fund_less6_exer1_solution west build --build-dir /home/akshat/Downloads/ncs-fund-main/v2.x.x/lesson6/fund_less6_exer1_solution/build /home/akshat/Downloads/ncs-fund-main/v2.x.x/lesson6/fund_less6_exer1_solution [3/7] Linking C executable zephyr/zephyr_pre0.elf FAILED: zephyr/zephyr_pre0.elf zephyr/zephyr_pre0.map /home/akshat/Downloads/ncs-fund-main/v2.x.x/lesson6/fund_less6_exer1_solution/build/zephyr/zephyr_pre0.map : && ccache /home/akshat/ncs/toolchains/2be090971e/opt/zephyr-sdk/arm-zephyr-eabi/bin/arm-zephyr-eabi-gcc -gdwarf-4 zephyr/CMakeFiles/zephyr_pre0.dir/misc/empty_file.c.obj -o zephyr/zephyr_pre0.elf zephyr/CMakeFiles/offsets.dir/./arch/arm/core/offsets/offsets.c.obj -fuse-ld=bfd -T zephyr/linker_zephyr_pre0.cmd -Wl,-Map=/home/akshat/Downloads/ncs-fund-main/v2.x.x/lesson6/fund_less6_exer1_solution/build/zephyr/zephyr_pre0.map -Wl,--whole-archive app/libapp.a zephyr/libzephyr.a zephyr/arch/common/libarch__common.a zephyr/arch/arch/arm/core/libarch__arm__core.a zephyr/arch/arch/arm/core/cortex_m/libarch__arm__core__cortex_m.a zephyr/arch/arch/arm/core/mpu/libarch__arm__core__mpu.a zephyr/lib/libc/picolibc/liblib__libc__picolibc.a zephyr/lib/libc/common/liblib__libc__common.a zephyr/soc/soc/nrf52840/libsoc__nordic.a zephyr/drivers/adc/libdrivers__adc.a zephyr/drivers/clock_control/libdrivers__clock_control.a zephyr/drivers/console/libdrivers__console.a zephyr/drivers/gpio/libdrivers__gpio.a zephyr/drivers/i2c/libdrivers__i2c.a zephyr/drivers/pinctrl/libdrivers__pinctrl.a zephyr/drivers/serial/libdrivers__serial.a zephyr/drivers/timer/libdrivers__timer.a modules/nrf/drivers/hw_cc3xx/lib..__nrf__drivers__hw_cc3xx.a modules/hal_nordic/nrfx/libmodules__hal_nordic__nrfx.a modules/segger/libmodules__segger.a -Wl,--no-whole-archive zephyr/kernel/libkernel.a -L"/home/akshat/ncs/toolchains/2be090971e/opt/zephyr-sdk/arm-zephyr-eabi/bin/../lib/gcc/arm-zephyr-eabi/12.2.0/thumb/v7e-m/nofp" -L/home/akshat/Downloads/ncs-fund-main/v2.x.x/lesson6/fund_less6_exer1_solution/build/zephyr -lgcc zephyr/arch/common/libisr_tables.a -mcpu=cortex-m4 -mthumb -mabi=aapcs -mfp16-format=ieee -mtp=soft -Wl,--gc-sections -Wl,--build-id=none -Wl,--sort-common=descending -Wl,--sort-section=alignment -Wl,-u,_OffsetAbsSyms -Wl,-u,_ConfigAbsSyms -nostdlib -static -Wl,-X -Wl,-N -Wl,--orphan-handling=warn -Wl,-no-pie -DPICOLIBC_DOUBLE_PRINTF_SCANF /home/akshat/ncs/v2.7.0-rc3/nrfxlib/crypto/nrf_cc310_platform/lib/cortex-m4/soft-float/no-interrupts/libnrf_cc310_platform_0.9.19.a --specs=picolibc.specs -lc -lgcc && cd /home/akshat/Downloads/ncs-fund-main/v2.x.x/lesson6/fund_less6_exer1_solution/build/zephyr && /home/akshat/ncs/toolchains/2be090971e/usr/local/bin/cmake -E true /home/akshat/ncs/toolchains/2be090971e/opt/zephyr-sdk/arm-zephyr-eabi/bin/../lib/gcc/arm-zephyr-eabi/12.2.0/../../../../arm-zephyr-eabi/bin/ld.bfd: app/libapp.a(main.c.obj): in function `twi_init': /home/akshat/Downloads/ncs-fund-main/v2.x.x/lesson6/fund_less6_exer1_solution/src/main.c:36: undefined reference to `nrf_drv_twi_init' collect2: error: ld returned 1 exit status ninja: build stopped: subcommand failed. FATAL ERROR: command exited with status 1: /home/akshat/ncs/toolchains/2be090971e/usr/local/bin/cmake --build /home/akshat/Downloads/ncs-fund-main/v2.x.x/lesson6/fund_less6_exer1_solution/build * The terminal process terminated with exit code: 1. * Terminal will be reused by tasks, press any key to close it.
This is the nrf_drv_twi.c file where the funtion is defined at line 161.
/**
* Copyright (c) 2017 - 2019, Nordic Semiconductor ASA
*
* All rights reserved.
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* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form, except as embedded into a Nordic
* Semiconductor ASA integrated circuit in a product or a software update for
* such product, must reproduce the above copyright notice, this list of
* conditions and the following disclaimer in the documentation and/or other
* materials provided with the distribution.
*
* 3. Neither the name of Nordic Semiconductor ASA nor the names of its
* contributors may be used to endorse or promote products derived from this
* software without specific prior written permission.
*
* 4. This software, with or without modification, must only be used with a
* Nordic Semiconductor ASA integrated circuit.
*
* 5. Any software provided in binary form under this license must not be reverse
* engineered, decompiled, modified and/or disassembled.
*
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*/
#include "nrf_drv_twi.h"
#include "nrf_delay.h"
#include <hal/nrf_gpio.h>
#ifdef TWIM_PRESENT
#define INSTANCE_COUNT TWIM_COUNT
#else
#define INSTANCE_COUNT TWI_COUNT
#endif
#define SCL_PIN_INIT_CONF \
( (GPIO_PIN_CNF_SENSE_Disabled << GPIO_PIN_CNF_SENSE_Pos) \
| (GPIO_PIN_CNF_DRIVE_S0D1 << GPIO_PIN_CNF_DRIVE_Pos) \
| (GPIO_PIN_CNF_PULL_Pullup << GPIO_PIN_CNF_PULL_Pos) \
| (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos) \
| (GPIO_PIN_CNF_DIR_Input << GPIO_PIN_CNF_DIR_Pos))
#define SDA_PIN_INIT_CONF SCL_PIN_INIT_CONF
#define SDA_PIN_UNINIT_CONF \
( (GPIO_PIN_CNF_SENSE_Disabled << GPIO_PIN_CNF_SENSE_Pos) \
| (GPIO_PIN_CNF_DRIVE_H0H1 << GPIO_PIN_CNF_DRIVE_Pos) \
| (GPIO_PIN_CNF_PULL_Disabled << GPIO_PIN_CNF_PULL_Pos) \
| (GPIO_PIN_CNF_INPUT_Disconnect << GPIO_PIN_CNF_INPUT_Pos) \
| (GPIO_PIN_CNF_DIR_Input << GPIO_PIN_CNF_DIR_Pos))
#define SCL_PIN_UNINIT_CONF SDA_PIN_UNINIT_CONF
#define SCL_PIN_INIT_CONF_CLR \
( (GPIO_PIN_CNF_SENSE_Disabled << GPIO_PIN_CNF_SENSE_Pos) \
| (GPIO_PIN_CNF_DRIVE_S0D1 << GPIO_PIN_CNF_DRIVE_Pos) \
| (GPIO_PIN_CNF_PULL_Pullup << GPIO_PIN_CNF_PULL_Pos) \
| (GPIO_PIN_CNF_INPUT_Connect << GPIO_PIN_CNF_INPUT_Pos) \
| (GPIO_PIN_CNF_DIR_Output << GPIO_PIN_CNF_DIR_Pos))
#define SDA_PIN_INIT_CONF_CLR SCL_PIN_INIT_CONF_CLR
static nrf_drv_twi_evt_handler_t m_handlers[INSTANCE_COUNT];
static void * m_contexts[INSTANCE_COUNT];
static void twi_clear_bus(nrf_drv_twi_config_t const * p_config)
{
NRF_GPIO->PIN_CNF[p_config->scl] = SCL_PIN_INIT_CONF;
NRF_GPIO->PIN_CNF[p_config->sda] = SDA_PIN_INIT_CONF;
nrf_gpio_pin_set(p_config->scl);
nrf_gpio_pin_set(p_config->sda);
NRF_GPIO->PIN_CNF[p_config->scl] = SCL_PIN_INIT_CONF_CLR;
NRF_GPIO->PIN_CNF[p_config->sda] = SDA_PIN_INIT_CONF_CLR;
nrf_delay_us(4);
for (int i = 0; i < 9; i++)
{
if (nrf_gpio_pin_read(p_config->sda))
{
if (i == 0)
{
return;
}
else
{
break;
}
}
nrf_gpio_pin_clear(p_config->scl);
nrf_delay_us(4);
nrf_gpio_pin_set(p_config->scl);
nrf_delay_us(4);
}
nrf_gpio_pin_clear(p_config->sda);
nrf_delay_us(4);
nrf_gpio_pin_set(p_config->sda);
}
#ifdef TWIM_PRESENT
static void twim_evt_handler(nrfx_twim_evt_t const * p_event,
void * p_context)
{
uint32_t inst_idx = (uint32_t)p_context;
nrf_drv_twi_evt_t const event =
{
.type = (nrf_drv_twi_evt_type_t)p_event->type,
.xfer_desc =
{
.type = (nrf_drv_twi_xfer_type_t)p_event->xfer_desc.type,
.address = p_event->xfer_desc.address,
.primary_length = p_event->xfer_desc.primary_length,
.secondary_length = p_event->xfer_desc.secondary_length,
.p_primary_buf = p_event->xfer_desc.p_primary_buf,
.p_secondary_buf = p_event->xfer_desc.p_secondary_buf,
}
};
m_handlers[inst_idx](&event, m_contexts[inst_idx]);
}
#endif // TWIM_PRESENT
#ifdef TWI_PRESENT
static void twi_evt_handler(nrfx_twi_evt_t const * p_event,
void * p_context)
{
uint32_t inst_idx = (uint32_t)p_context;
nrf_drv_twi_evt_t const event =
{
.type = (nrf_drv_twi_evt_type_t)p_event->type,
.xfer_desc =
{
.type = (nrf_drv_twi_xfer_type_t)p_event->xfer_desc.type,
.address = p_event->xfer_desc.address,
.primary_length = p_event->xfer_desc.primary_length,
.secondary_length = p_event->xfer_desc.secondary_length,
.p_primary_buf = p_event->xfer_desc.p_primary_buf,
.p_secondary_buf = p_event->xfer_desc.p_secondary_buf,
}
};
m_handlers[inst_idx](&event, m_contexts[inst_idx]);
}
#endif // TWI_PRESENT
ret_code_t nrf_drv_twi_init(nrf_drv_twi_t const * p_instance,
nrf_drv_twi_config_t const * p_config,
nrf_drv_twi_evt_handler_t event_handler,
void * p_context)
{
uint32_t inst_idx = p_instance->inst_idx;
m_handlers[inst_idx] = event_handler;
m_contexts[inst_idx] = p_context;
if(p_config->clear_bus_init)
{
/* Send clocks (max 9) until slave device back from stuck mode */
twi_clear_bus(p_config);
}
ret_code_t result = 0;
if (NRF_DRV_TWI_USE_TWIM)
{
result = nrfx_twim_init(&p_instance->u.twim,
(nrfx_twim_config_t const *)p_config,
event_handler ? twim_evt_handler : NULL,
(void *)inst_idx);
}
else if (NRF_DRV_TWI_USE_TWI)
{
result = nrfx_twi_init(&p_instance->u.twi,
(nrfx_twi_config_t const *)p_config,
event_handler ? twi_evt_handler : NULL,
(void *)inst_idx);
}
return result;
}
can you please help me with this error and guide me on how to correct this.
