undefined reference to `nrf_drv_twi_init'

[techno_blitz]

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, &reg, 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.
 *
 * 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.
 *
 * THIS SOFTWARE IS PROVIDED BY NORDIC SEMICONDUCTOR ASA "AS IS" AND ANY EXPRESS
 * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
 * OF MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL NORDIC SEMICONDUCTOR ASA OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE
 * GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
 * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 */

#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.

[Susheel Nuguru]

Have you checked in the sdk_config.h file that the necessary configuration for the TWI driver is enabled?. You need to ensure that the TWI driver is enabled by setting the appropriate preprocessor definitions. For example, you might need to set #define TWI_ENABLED 1 and #define TWI0_ENABLED 1 in your sdk_config.h file.

[techno_blitz]

Sir there is no such file in my project. There is a Kconfig file but no sdk_config.h

[Susheel Nuguru]

I am really sorry, I assumed you were using older sdk overlooking your logs which clearly provides the info that you are using the nRF Connect SDK.

I do not think the nRF Connect for SDK have the interface driver API nrf_drv_twi_init included. This is the API from the older nRF5 SDK. Where did you get your code from? Is the code template you are using from older version of the nRF5SDK? If yes, then you need to modify you code not to use the nrf_drv_xxxx and use nrfx_xxx directly.

[techno_blitz]

I got this code from the tutorial examples of the nrf Nordic programming course. Could you guide me how to modify the code. I want to write a bare metal program to get accelerometer readings from mpu6050. Is it possible to write such a bare metal code?