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. * * 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.