Hi, I am trying to interface MPU6050 IMU module with NRF52832 DK.
I need to send the Accelerometer and gyroscope data to mobile app by using BLE_UART program
this is my code
#include <stdint.h>
#include <string.h>
#include "nordic_common.h"
#include "boards.h"
#include "nrf.h"
#include "ble_hci.h"
#include "ble_advdata.h"
#include "ble_advertising.h"
#include "ble_conn_params.h"
#include "nrf_sdh.h"
#include "nrf_sdh_soc.h"
#include "nrf_sdh_ble.h"
#include "nrf_ble_gatt.h"
#include "nrf_ble_qwr.h"
#include "app_timer.h"
#include "app_error.h"
#include "ble_nus.h"
#include "app_uart.h"
#include "app_util_platform.h"
#include "bsp_btn_ble.h"
#include "nrf_pwr_mgmt.h"
#include "nrf_delay.h"
#include "nrf_drv_twi.h"
#include "mpu6050.h"
#if defined (UART_PRESENT)
#include "nrf_uart.h"
#endif
#if defined (UARTE_PRESENT)
#include "nrf_uarte.h"
#endif
#include "nrf_log.h"
#include "nrf_log_ctrl.h"
#include "nrf_log_default_backends.h"
#define APP_BLE_CONN_CFG_TAG 1 /**< A tag identifying the SoftDevice BLE configuration. */
#define DEVICE_NAME "MPU6050_UART" /**< Name of device. Will be included in the advertising data. */
#define NUS_SERVICE_UUID_TYPE BLE_UUID_TYPE_VENDOR_BEGIN /**< UUID type for the Nordic UART Service (vendor specific). */
#define APP_BLE_OBSERVER_PRIO 3 /**< Application's BLE observer priority. You shouldn't need to modify this value. */
#define APP_ADV_INTERVAL 64 /**< The advertising interval (in units of 0.625 ms. This value corresponds to 40 ms). */
#define APP_ADV_DURATION 18000 /**< The advertising duration (180 seconds) in units of 10 milliseconds. */
#define MIN_CONN_INTERVAL MSEC_TO_UNITS(20, UNIT_1_25_MS) /**< Minimum acceptable connection interval (20 ms), Connection interval uses 1.25 ms units. */
#define MAX_CONN_INTERVAL MSEC_TO_UNITS(75, UNIT_1_25_MS) /**< Maximum acceptable connection interval (75 ms), Connection interval uses 1.25 ms units. */
#define SLAVE_LATENCY 0 /**< Slave latency. */
#define CONN_SUP_TIMEOUT MSEC_TO_UNITS(4000, UNIT_10_MS) /**< Connection supervisory timeout (4 seconds), Supervision Timeout uses 10 ms units. */
#define FIRST_CONN_PARAMS_UPDATE_DELAY APP_TIMER_TICKS(5000) /**< Time from initiating event (connect or start of notification) to first time sd_ble_gap_conn_param_update is called (5 seconds). */
#define NEXT_CONN_PARAMS_UPDATE_DELAY APP_TIMER_TICKS(30000) /**< Time between each call to sd_ble_gap_conn_param_update after the first call (30 seconds). */
#define MAX_CONN_PARAMS_UPDATE_COUNT 3 /**< Number of attempts before giving up the connection parameter negotiation. */
#define DEAD_BEEF 0xDEADBEEF /**< Value used as error code on stack dump, can be used to identify stack location on stack unwind. */
#define UART_TX_BUF_SIZE 256 /**< UART TX buffer size. */
#define UART_RX_BUF_SIZE 256 /**< UART RX buffer size. */
/* TWI instance ID. */
#define TWI_INSTANCE_ID 0
float MPU6050_Acc[3] = {0};
float MPU6050_Gyro[3] = {0};
/* Indicates if operation on TWI has ended. */
static volatile bool m_xfer_done = false;
/* TWI instance. */
static const nrf_drv_twi_t m_twi = NRF_DRV_TWI_INSTANCE(TWI_INSTANCE_ID);
bool i2c_write( uint8_t device_address, uint8_t register_address, uint8_t *value, uint8_t number_of_bytes );
bool i2c_read( uint8_t device_address, uint8_t register_address, uint8_t *destination, uint8_t number_of_bytes );
#define C_Output_Acc 0x61 // "a" Command: Output acc data
#define C_Output_Gyro 0x67 // "g" Command: Output gyro data
#define Output_Select_Gyro 0x01
#define Output_Select_Acc 0x00
#define Default_Zero 0x00
uint8_t StringSelect; // 1 = Output Gryo, 0 = Output Acc
char printf_buffer[256]; // Output Buffer
uint16_t length; // Output Buffer Length
BLE_NUS_DEF(m_nus, NRF_SDH_BLE_TOTAL_LINK_COUNT); /**< BLE NUS service instance. */
NRF_BLE_GATT_DEF(m_gatt); /**< GATT module instance. */
NRF_BLE_QWR_DEF(m_qwr); /**< Context for the Queued Write module.*/
BLE_ADVERTISING_DEF(m_advertising); /**< Advertising module instance. */
static uint16_t m_conn_handle = BLE_CONN_HANDLE_INVALID; /**< Handle of the current connection. */
static uint16_t m_ble_nus_max_data_len = BLE_GATT_ATT_MTU_DEFAULT - 3; /**< Maximum length of data (in bytes) that can be transmitted to the peer by the Nordic UART service module. */
static ble_uuid_t m_adv_uuids[] = /**< Universally unique service identifier. */
{
{BLE_UUID_NUS_SERVICE, NUS_SERVICE_UUID_TYPE}
};
/**@brief Function for assert macro callback.
*
* @details This function will be called in case of an assert in the SoftDevice.
*
* @warning This handler is an example only and does not fit a final product. You need to analyse
* how your product is supposed to react in case of Assert.
* @warning On assert from the SoftDevice, the system can only recover on reset.
*
* @param[in] line_num Line number of the failing ASSERT call.
* @param[in] p_file_name File name of the failing ASSERT call.
*/
void assert_nrf_callback(uint16_t line_num, const uint8_t * p_file_name)
{
app_error_handler(DEAD_BEEF, line_num, p_file_name);
}
/**@brief Function for initializing the timer module.
*/
static void timers_init(void)
{
ret_code_t err_code = app_timer_init();
APP_ERROR_CHECK(err_code);
}
/**@brief Function for the GAP initialization.
*
* @details This function will set up all the necessary GAP (Generic Access Profile) parameters of
* the device. It also sets the permissions and appearance.
*/
static void gap_params_init(void)
{
uint32_t err_code;
ble_gap_conn_params_t gap_conn_params;
ble_gap_conn_sec_mode_t sec_mode;
BLE_GAP_CONN_SEC_MODE_SET_OPEN(&sec_mode);
err_code = sd_ble_gap_device_name_set(&sec_mode,
(const uint8_t *) DEVICE_NAME,
strlen(DEVICE_NAME));
APP_ERROR_CHECK(err_code);
memset(&gap_conn_params, 0, sizeof(gap_conn_params));
gap_conn_params.min_conn_interval = MIN_CONN_INTERVAL;
gap_conn_params.max_conn_interval = MAX_CONN_INTERVAL;
gap_conn_params.slave_latency = SLAVE_LATENCY;
gap_conn_params.conn_sup_timeout = CONN_SUP_TIMEOUT;
err_code = sd_ble_gap_ppcp_set(&gap_conn_params);
APP_ERROR_CHECK(err_code);
}
/**@brief Function for handling Queued Write Module errors.
*
* @details A pointer to this function will be passed to each service which may need to inform the
* application about an error.
*
* @param[in] nrf_error Error code containing information about what went wrong.
*/
static void nrf_qwr_error_handler(uint32_t nrf_error)
{
APP_ERROR_HANDLER(nrf_error);
}
/**@brief Function for handling the data from the Nordic UART Service.
*
* @details This function will process the data received from the Nordic UART BLE Service and send
* it to the UART module.
*
* @param[in] p_evt Nordic UART Service event.
*/
/**@snippet [Handling the data received over BLE] */
static void nus_data_handler(ble_nus_evt_t * p_evt)
{
if (p_evt->type == BLE_NUS_EVT_RX_DATA)
{
uint32_t err_code;
NRF_LOG_DEBUG("Received data from BLE NUS. Writing data on UART.");
NRF_LOG_HEXDUMP_DEBUG(p_evt->params.rx_data.p_data, p_evt->params.rx_data.length);
/*for (uint32_t i = 0; i < p_evt->params.rx_data.length; i++)
{
do
{
err_code = app_uart_put(p_evt->params.rx_data.p_data[i]);
if ((err_code != NRF_SUCCESS) && (err_code != NRF_ERROR_BUSY))
{
NRF_LOG_ERROR("Failed receiving NUS message. Error 0x%x. ", err_code);
APP_ERROR_CHECK(err_code);
}
} while (err_code == NRF_ERROR_BUSY);
}
if (p_evt->params.rx_data.p_data[p_evt->params.rx_data.length - 1] == '\r')
{
while (app_uart_put('\n') == NRF_ERROR_BUSY);
}*/
switch (p_evt->params.rx_data.p_data[0])
{
case C_Output_Acc: //a
StringSelect = Output_Select_Acc;
break;
case C_Output_Gyro: //g
StringSelect = Output_Select_Gyro;
break;
}
}
}
/**@snippet [Handling the data received over BLE] */
/**@brief Function for initializing services that will be used by the application.
*/
static void services_init(void)
{
uint32_t err_code;
ble_nus_init_t nus_init;
nrf_ble_qwr_init_t qwr_init = {0};
// Initialize Queued Write Module.
qwr_init.error_handler = nrf_qwr_error_handler;
err_code = nrf_ble_qwr_init(&m_qwr, &qwr_init);
APP_ERROR_CHECK(err_code);
// Initialize NUS.
memset(&nus_init, 0, sizeof(nus_init));
nus_init.data_handler = nus_data_handler;
err_code = ble_nus_init(&m_nus, &nus_init);
APP_ERROR_CHECK(err_code);
}
/**@brief Function for handling an event from the Connection Parameters Module.
*
* @details This function will be called for all events in the Connection Parameters Module
* which are passed to the application.
*
* @note All this function does is to disconnect. This could have been done by simply setting
* the disconnect_on_fail config parameter, but instead we use the event handler
* mechanism to demonstrate its use.
*
* @param[in] p_evt Event received from the Connection Parameters Module.
*/
static void on_conn_params_evt(ble_conn_params_evt_t * p_evt)
{
uint32_t err_code;
if (p_evt->evt_type == BLE_CONN_PARAMS_EVT_FAILED)
{
err_code = sd_ble_gap_disconnect(m_conn_handle, BLE_HCI_CONN_INTERVAL_UNACCEPTABLE);
APP_ERROR_CHECK(err_code);
}
}
/**@brief Function for handling errors from the Connection Parameters module.
*
* @param[in] nrf_error Error code containing information about what went wrong.
*/
static void conn_params_error_handler(uint32_t nrf_error)
{
APP_ERROR_HANDLER(nrf_error);
}
/**@brief Function for initializing the Connection Parameters module.
*/
static void conn_params_init(void)
{
uint32_t err_code;
ble_conn_params_init_t cp_init;
memset(&cp_init, 0, sizeof(cp_init));
cp_init.p_conn_params = NULL;
cp_init.first_conn_params_update_delay = FIRST_CONN_PARAMS_UPDATE_DELAY;
cp_init.next_conn_params_update_delay = NEXT_CONN_PARAMS_UPDATE_DELAY;
cp_init.max_conn_params_update_count = MAX_CONN_PARAMS_UPDATE_COUNT;
cp_init.start_on_notify_cccd_handle = BLE_GATT_HANDLE_INVALID;
cp_init.disconnect_on_fail = false;
cp_init.evt_handler = on_conn_params_evt;
cp_init.error_handler = conn_params_error_handler;
err_code = ble_conn_params_init(&cp_init);
APP_ERROR_CHECK(err_code);
}
/**@brief Function for putting the chip into sleep mode.
*
* @note This function will not return.
*/
static void sleep_mode_enter(void)
{
uint32_t err_code = bsp_indication_set(BSP_INDICATE_IDLE);
APP_ERROR_CHECK(err_code);
// Prepare wakeup buttons.
err_code = bsp_btn_ble_sleep_mode_prepare();
APP_ERROR_CHECK(err_code);
// Go to system-off mode (this function will not return; wakeup will cause a reset).
err_code = sd_power_system_off();
APP_ERROR_CHECK(err_code);
}
/**@brief Function for handling advertising events.
*
* @details This function will be called for advertising events which are passed to the application.
*
* @param[in] ble_adv_evt Advertising event.
*/
static void on_adv_evt(ble_adv_evt_t ble_adv_evt)
{
uint32_t err_code;
switch (ble_adv_evt)
{
case BLE_ADV_EVT_FAST:
err_code = bsp_indication_set(BSP_INDICATE_ADVERTISING);
APP_ERROR_CHECK(err_code);
break;
case BLE_ADV_EVT_IDLE:
sleep_mode_enter();
break;
default:
break;
}
}
/**@brief Function for handling BLE events.
*
* @param[in] p_ble_evt Bluetooth stack event.
* @param[in] p_context Unused.
*/
static void ble_evt_handler(ble_evt_t const * p_ble_evt, void * p_context)
{
uint32_t err_code;
switch (p_ble_evt->header.evt_id)
{
case BLE_GAP_EVT_CONNECTED:
NRF_LOG_INFO("Connected");
err_code = bsp_indication_set(BSP_INDICATE_CONNECTED);
APP_ERROR_CHECK(err_code);
m_conn_handle = p_ble_evt->evt.gap_evt.conn_handle;
err_code = nrf_ble_qwr_conn_handle_assign(&m_qwr, m_conn_handle);
APP_ERROR_CHECK(err_code);
break;
case BLE_GAP_EVT_DISCONNECTED:
NRF_LOG_INFO("Disconnected");
// LED indication will be changed when advertising starts.
m_conn_handle = BLE_CONN_HANDLE_INVALID;
break;
case BLE_GAP_EVT_PHY_UPDATE_REQUEST:
{
NRF_LOG_DEBUG("PHY update request.");
ble_gap_phys_t const phys =
{
.rx_phys = BLE_GAP_PHY_AUTO,
.tx_phys = BLE_GAP_PHY_AUTO,
};
err_code = sd_ble_gap_phy_update(p_ble_evt->evt.gap_evt.conn_handle, &phys);
APP_ERROR_CHECK(err_code);
} break;
case BLE_GAP_EVT_SEC_PARAMS_REQUEST:
// Pairing not supported
err_code = sd_ble_gap_sec_params_reply(m_conn_handle, BLE_GAP_SEC_STATUS_PAIRING_NOT_SUPP, NULL, NULL);
APP_ERROR_CHECK(err_code);
break;
case BLE_GATTS_EVT_SYS_ATTR_MISSING:
// No system attributes have been stored.
err_code = sd_ble_gatts_sys_attr_set(m_conn_handle, NULL, 0, 0);
APP_ERROR_CHECK(err_code);
break;
case BLE_GATTC_EVT_TIMEOUT:
// Disconnect on GATT Client timeout event.
err_code = sd_ble_gap_disconnect(p_ble_evt->evt.gattc_evt.conn_handle,
BLE_HCI_REMOTE_USER_TERMINATED_CONNECTION);
APP_ERROR_CHECK(err_code);
break;
case BLE_GATTS_EVT_TIMEOUT:
// Disconnect on GATT Server timeout event.
err_code = sd_ble_gap_disconnect(p_ble_evt->evt.gatts_evt.conn_handle,
BLE_HCI_REMOTE_USER_TERMINATED_CONNECTION);
APP_ERROR_CHECK(err_code);
break;
default:
// No implementation needed.
break;
}
}
/**@brief Function for the SoftDevice initialization.
*
* @details This function initializes the SoftDevice and the BLE event interrupt.
*/
static void ble_stack_init(void)
{
ret_code_t err_code;
err_code = nrf_sdh_enable_request();
APP_ERROR_CHECK(err_code);
// Configure the BLE stack using the default settings.
// Fetch the start address of the application RAM.
uint32_t ram_start = 0;
err_code = nrf_sdh_ble_default_cfg_set(APP_BLE_CONN_CFG_TAG, &ram_start);
APP_ERROR_CHECK(err_code);
// Enable BLE stack.
err_code = nrf_sdh_ble_enable(&ram_start);
APP_ERROR_CHECK(err_code);
// Register a handler for BLE events.
NRF_SDH_BLE_OBSERVER(m_ble_observer, APP_BLE_OBSERVER_PRIO, ble_evt_handler, NULL);
}
/**@brief Function for handling events from the GATT library. */
void gatt_evt_handler(nrf_ble_gatt_t * p_gatt, nrf_ble_gatt_evt_t const * p_evt)
{
if ((m_conn_handle == p_evt->conn_handle) && (p_evt->evt_id == NRF_BLE_GATT_EVT_ATT_MTU_UPDATED))
{
m_ble_nus_max_data_len = p_evt->params.att_mtu_effective - OPCODE_LENGTH - HANDLE_LENGTH;
NRF_LOG_INFO("Data len is set to 0x%X(%d)", m_ble_nus_max_data_len, m_ble_nus_max_data_len);
}
NRF_LOG_DEBUG("ATT MTU exchange completed. central 0x%x peripheral 0x%x",
p_gatt->att_mtu_desired_central,
p_gatt->att_mtu_desired_periph);
}
/**@brief Function for initializing the GATT library. */
void gatt_init(void)
{
ret_code_t err_code;
err_code = nrf_ble_gatt_init(&m_gatt, gatt_evt_handler);
APP_ERROR_CHECK(err_code);
err_code = nrf_ble_gatt_att_mtu_periph_set(&m_gatt, NRF_SDH_BLE_GATT_MAX_MTU_SIZE);
APP_ERROR_CHECK(err_code);
}
/**@brief Function for handling events from the BSP module.
*
* @param[in] event Event generated by button press.
*/
void bsp_event_handler(bsp_event_t event)
{
uint32_t err_code;
switch (event)
{
case BSP_EVENT_SLEEP:
sleep_mode_enter();
break;
case BSP_EVENT_DISCONNECT:
err_code = sd_ble_gap_disconnect(m_conn_handle, BLE_HCI_REMOTE_USER_TERMINATED_CONNECTION);
if (err_code != NRF_ERROR_INVALID_STATE)
{
APP_ERROR_CHECK(err_code);
}
break;
case BSP_EVENT_WHITELIST_OFF:
if (m_conn_handle == BLE_CONN_HANDLE_INVALID)
{
err_code = ble_advertising_restart_without_whitelist(&m_advertising);
if (err_code != NRF_ERROR_INVALID_STATE)
{
APP_ERROR_CHECK(err_code);
}
}
break;
default:
break;
}
}
/**@brief Function for handling app_uart events.
*
* @details This function will receive a single character from the app_uart module and append it to
* a string. The string will be be sent over BLE when the last character received was a
* 'new line' '\n' (hex 0x0A) or if the string has reached the maximum data length.
*/
/**@snippet [Handling the data received over UART] */
void uart_event_handle(app_uart_evt_t * p_event)
{
static uint8_t data_array[BLE_NUS_MAX_DATA_LEN];
static uint8_t index = 0;
uint32_t err_code;
switch (p_event->evt_type)
{
case APP_UART_DATA_READY:
UNUSED_VARIABLE(app_uart_get(&data_array[index]));
index++;
if ((data_array[index - 1] == '\n') ||
(data_array[index - 1] == '\r') ||
(index >= m_ble_nus_max_data_len))
{
if (index > 1)
{
NRF_LOG_DEBUG("Ready to send data over BLE NUS");
NRF_LOG_HEXDUMP_DEBUG(data_array, index);
do
{
uint16_t length = (uint16_t)index;
err_code = ble_nus_data_send(&m_nus, data_array, &length, m_conn_handle);
if ((err_code != NRF_ERROR_INVALID_STATE) &&
(err_code != NRF_ERROR_RESOURCES) &&
(err_code != NRF_ERROR_NOT_FOUND))
{
APP_ERROR_CHECK(err_code);
}
} while (err_code == NRF_ERROR_RESOURCES);
}
index = 0;
}
break;
case APP_UART_COMMUNICATION_ERROR:
APP_ERROR_HANDLER(p_event->data.error_communication);
break;
case APP_UART_FIFO_ERROR:
APP_ERROR_HANDLER(p_event->data.error_code);
break;
default:
break;
}
}
/**@snippet [Handling the data received over UART] */
/**@brief Function for initializing the UART module.
*/
/**@snippet [UART Initialization] */
static void uart_init(void)
{
uint32_t err_code;
app_uart_comm_params_t const comm_params =
{
.rx_pin_no = RX_PIN_NUMBER,
.tx_pin_no = TX_PIN_NUMBER,
.rts_pin_no = RTS_PIN_NUMBER,
.cts_pin_no = CTS_PIN_NUMBER,
.flow_control = APP_UART_FLOW_CONTROL_DISABLED,
.use_parity = false,
#if defined (UART_PRESENT)
.baud_rate = NRF_UART_BAUDRATE_115200
#else
.baud_rate = NRF_UARTE_BAUDRATE_115200
#endif
};
APP_UART_FIFO_INIT(&comm_params,
UART_RX_BUF_SIZE,
UART_TX_BUF_SIZE,
uart_event_handle,
APP_IRQ_PRIORITY_LOWEST,
err_code);
APP_ERROR_CHECK(err_code);
}
/**@snippet [UART Initialization] */
/**@brief Function for initializing the Advertising functionality.
*/
static void advertising_init(void)
{
uint32_t err_code;
ble_advertising_init_t init;
memset(&init, 0, sizeof(init));
init.advdata.name_type = BLE_ADVDATA_FULL_NAME;
init.advdata.include_appearance = false;
init.advdata.flags = BLE_GAP_ADV_FLAGS_LE_ONLY_LIMITED_DISC_MODE;
init.srdata.uuids_complete.uuid_cnt = sizeof(m_adv_uuids) / sizeof(m_adv_uuids[0]);
init.srdata.uuids_complete.p_uuids = m_adv_uuids;
init.config.ble_adv_fast_enabled = true;
init.config.ble_adv_fast_interval = APP_ADV_INTERVAL;
init.config.ble_adv_fast_timeout = APP_ADV_DURATION;
init.evt_handler = on_adv_evt;
err_code = ble_advertising_init(&m_advertising, &init);
APP_ERROR_CHECK(err_code);
ble_advertising_conn_cfg_tag_set(&m_advertising, APP_BLE_CONN_CFG_TAG);
}
/**@brief Function for initializing buttons and leds.
*
* @param[out] p_erase_bonds Will be true if the clear bonding button was pressed to wake the application up.
*/
static void buttons_leds_init(bool * p_erase_bonds)
{
bsp_event_t startup_event;
uint32_t err_code = bsp_init(BSP_INIT_LEDS | BSP_INIT_BUTTONS, bsp_event_handler);
APP_ERROR_CHECK(err_code);
err_code = bsp_btn_ble_init(NULL, &startup_event);
APP_ERROR_CHECK(err_code);
*p_erase_bonds = (startup_event == BSP_EVENT_CLEAR_BONDING_DATA);
}
/**@brief Function for initializing the nrf log module.
*/
static void log_init(void)
{
ret_code_t err_code = NRF_LOG_INIT(NULL);
APP_ERROR_CHECK(err_code);
NRF_LOG_DEFAULT_BACKENDS_INIT();
}
/**@brief Function for initializing power management.
*/
static void power_management_init(void)
{
ret_code_t err_code;
err_code = nrf_pwr_mgmt_init();
APP_ERROR_CHECK(err_code);
}
/**@brief Function for handling the idle state (main loop).
*
* @details If there is no pending log operation, then sleep until next the next event occurs.
*/
static void idle_state_handle(void)
{
UNUSED_RETURN_VALUE(NRF_LOG_PROCESS());
nrf_pwr_mgmt_run();
}
/**@brief Function for starting advertising.
*/
static void advertising_start(void)
{
uint32_t err_code = ble_advertising_start(&m_advertising, BLE_ADV_MODE_FAST);
APP_ERROR_CHECK(err_code);
}
/**
* @brief TWI initialization.
*/
void twi_init (void)
{
ret_code_t err_code;
const nrf_drv_twi_config_t twi_lm75b_config = {
.scl = ARDUINO_SCL_PIN,
.sda = ARDUINO_SDA_PIN,
.frequency = NRF_DRV_TWI_FREQ_100K,
.interrupt_priority = APP_IRQ_PRIORITY_HIGH,
.clear_bus_init = false
};
err_code = nrf_drv_twi_init(&m_twi, &twi_lm75b_config, NULL, NULL);
APP_ERROR_CHECK(err_code);
nrf_drv_twi_enable(&m_twi);
}
bool i2c_write(uint8_t device_address, uint8_t register_address, uint8_t *value, uint8_t number_of_bytes )
{
uint8_t w_data[number_of_bytes+1], i;
w_data[0] = register_address;
for ( i = 0 ; i < number_of_bytes ; i++ )
{
w_data[i+1] = value[i];
}
nrf_drv_twi_tx(&m_twi, (device_address)>>1, w_data, number_of_bytes+1, false);
return true;
}
bool i2c_read(uint8_t device_address, uint8_t register_address, uint8_t * destination, uint8_t number_of_bytes)
{
nrf_drv_twi_tx(&m_twi, (device_address)>>1, ®ister_address, 1, true);
nrf_drv_twi_rx(&m_twi, (device_address)>>1, destination, number_of_bytes);
return true;
}
/**@brief Application main function.
*/
int main(void)
{
bool erase_bonds;
// Initialize.
uart_init();
log_init();
timers_init();
buttons_leds_init(&erase_bonds);
power_management_init();
ble_stack_init();
gap_params_init();
gatt_init();
services_init();
advertising_init();
conn_params_init();
twi_init(); //I2C Init
nrf_delay_ms(50);
MPU6050_Init(); //Sensor Init
// Start execution.
printf("\r\nUART started.\r\n");
NRF_LOG_INFO("Debug logging for UART over RTT started.");
advertising_start();
StringSelect = Output_Select_Acc;
length = Default_Zero;
// Enter main loop.
for (;;)
{
memset(printf_buffer, 0x00, sizeof(printf_buffer));
if(StringSelect == Output_Select_Gyro)
snprintf(printf_buffer, 20, "G: %.1f; %.1f; %.1f", MPU6050_Gyro[0], MPU6050_Gyro[1], MPU6050_Gyro[2]);
else
snprintf(printf_buffer, 20, "A: %.1f; %.1f; %.1f", MPU6050_Acc[0], MPU6050_Acc[1], MPU6050_Acc[2]);
length = strlen(printf_buffer);
uint32_t err_code = ble_nus_data_send(&m_nus, (uint8_t *)printf_buffer, &length, m_conn_handle);
nrf_delay_ms(500);
MPU6050_GetAccData(MPU6050_Acc);
nrf_delay_ms(50);
MPU6050_GetGyroData(MPU6050_Gyro);
idle_state_handle();
}
}
/**
* @}
*/
and the compile error and drivers that i used are shown in this picture
In sdk.config.h file code in TWI is
// <e> NRFX_TWIM_ENABLED - nrfx_twim - TWIM peripheral driver //========================================================== #ifndef NRFX_TWIM_ENABLED #define NRFX_TWIM_ENABLED 1 #endif // <q> NRFX_TWIM0_ENABLED - Enable TWIM0 instance #ifndef NRFX_TWIM0_ENABLED #define NRFX_TWIM0_ENABLED 0 #endif // <q> NRFX_TWIM1_ENABLED - Enable TWIM1 instance #ifndef NRFX_TWIM1_ENABLED #define NRFX_TWIM1_ENABLED 0 #endif // <o> NRFX_TWIM_DEFAULT_CONFIG_FREQUENCY - Frequency // <26738688=> 100k // <67108864=> 250k // <104857600=> 400k #ifndef NRFX_TWIM_DEFAULT_CONFIG_FREQUENCY #define NRFX_TWIM_DEFAULT_CONFIG_FREQUENCY 26738688 #endif // <q> NRFX_TWIM_DEFAULT_CONFIG_HOLD_BUS_UNINIT - Enables bus holding after uninit #ifndef NRFX_TWIM_DEFAULT_CONFIG_HOLD_BUS_UNINIT #define NRFX_TWIM_DEFAULT_CONFIG_HOLD_BUS_UNINIT 0 #endif // <o> NRFX_TWIM_DEFAULT_CONFIG_IRQ_PRIORITY - Interrupt priority // <0=> 0 (highest) // <1=> 1 // <2=> 2 // <3=> 3 // <4=> 4 // <5=> 5 // <6=> 6 // <7=> 7 #ifndef NRFX_TWIM_DEFAULT_CONFIG_IRQ_PRIORITY #define NRFX_TWIM_DEFAULT_CONFIG_IRQ_PRIORITY 6 #endif // <e> NRFX_TWIM_CONFIG_LOG_ENABLED - Enables logging in the module. //========================================================== #ifndef NRFX_TWIM_CONFIG_LOG_ENABLED #define NRFX_TWIM_CONFIG_LOG_ENABLED 0 #endif // <o> NRFX_TWIM_CONFIG_LOG_LEVEL - Default Severity level // <0=> Off // <1=> Error // <2=> Warning // <3=> Info // <4=> Debug #ifndef NRFX_TWIM_CONFIG_LOG_LEVEL #define NRFX_TWIM_CONFIG_LOG_LEVEL 3 #endif // <o> NRFX_TWIM_CONFIG_INFO_COLOR - ANSI escape code prefix. // <0=> Default // <1=> Black // <2=> Red // <3=> Green // <4=> Yellow // <5=> Blue // <6=> Magenta // <7=> Cyan // <8=> White #ifndef NRFX_TWIM_CONFIG_INFO_COLOR #define NRFX_TWIM_CONFIG_INFO_COLOR 0 #endif // <o> NRFX_TWIM_CONFIG_DEBUG_COLOR - ANSI escape code prefix. // <0=> Default // <1=> Black // <2=> Red // <3=> Green // <4=> Yellow // <5=> Blue // <6=> Magenta // <7=> Cyan // <8=> White #ifndef NRFX_TWIM_CONFIG_DEBUG_COLOR #define NRFX_TWIM_CONFIG_DEBUG_COLOR 0 #endif // </e> // <q> NRFX_TWIM_NRF52_ANOMALY_109_WORKAROUND_ENABLED - Enables nRF52 anomaly 109 workaround for TWIM. // <i> The workaround uses interrupts to wake up the CPU by catching // <i> the start event of zero-frequency transmission, clear the // <i> peripheral, set desired frequency, start the peripheral, and // <i> the proper transmission. See more in the Errata document or // <i> Anomaly 109 Addendum located at https://infocenter.nordicsemi.com/ #ifndef NRFX_TWIM_NRF52_ANOMALY_109_WORKAROUND_ENABLED #define NRFX_TWIM_NRF52_ANOMALY_109_WORKAROUND_ENABLED 0 #endif // </e> // <e> NRFX_TWIS_ENABLED - nrfx_twis - TWIS peripheral driver //========================================================== #ifndef NRFX_TWIS_ENABLED #define NRFX_TWIS_ENABLED 0 #endif // <q> NRFX_TWIS0_ENABLED - Enable TWIS0 instance #ifndef NRFX_TWIS0_ENABLED #define NRFX_TWIS0_ENABLED 0 #endif // <q> NRFX_TWIS1_ENABLED - Enable TWIS1 instance #ifndef NRFX_TWIS1_ENABLED #define NRFX_TWIS1_ENABLED 0 #endif // <q> NRFX_TWIS_ASSUME_INIT_AFTER_RESET_ONLY - Assume that any instance would be initialized only once // <i> Optimization flag. Registers used by TWIS are shared by other peripherals. Normally, during initialization driver tries to clear all registers to known state before doing the initialization itself. This gives initialization safe procedure, no matter when it would be called. If you activate TWIS only once and do never uninitialize it - set this flag to 1 what gives more optimal code. #ifndef NRFX_TWIS_ASSUME_INIT_AFTER_RESET_ONLY #define NRFX_TWIS_ASSUME_INIT_AFTER_RESET_ONLY 0 #endif // <q> NRFX_TWIS_NO_SYNC_MODE - Remove support for synchronous mode // <i> Synchronous mode would be used in specific situations. And it uses some additional code and data memory to safely process state machine by polling it in status functions. If this functionality is not required it may be disabled to free some resources. #ifndef NRFX_TWIS_NO_SYNC_MODE #define NRFX_TWIS_NO_SYNC_MODE 0 #endif // <o> NRFX_TWIS_DEFAULT_CONFIG_ADDR0 - Address0 #ifndef NRFX_TWIS_DEFAULT_CONFIG_ADDR0 #define NRFX_TWIS_DEFAULT_CONFIG_ADDR0 0 #endif // <o> NRFX_TWIS_DEFAULT_CONFIG_ADDR1 - Address1 #ifndef NRFX_TWIS_DEFAULT_CONFIG_ADDR1 #define NRFX_TWIS_DEFAULT_CONFIG_ADDR1 0 #endif // <o> NRFX_TWIS_DEFAULT_CONFIG_SCL_PULL - SCL pin pull configuration // <0=> Disabled // <1=> Pull down // <3=> Pull up #ifndef NRFX_TWIS_DEFAULT_CONFIG_SCL_PULL #define NRFX_TWIS_DEFAULT_CONFIG_SCL_PULL 0 #endif // <o> NRFX_TWIS_DEFAULT_CONFIG_SDA_PULL - SDA pin pull configuration // <0=> Disabled // <1=> Pull down // <3=> Pull up #ifndef NRFX_TWIS_DEFAULT_CONFIG_SDA_PULL #define NRFX_TWIS_DEFAULT_CONFIG_SDA_PULL 0 #endif // <o> NRFX_TWIS_DEFAULT_CONFIG_IRQ_PRIORITY - Interrupt priority // <0=> 0 (highest) // <1=> 1 // <2=> 2 // <3=> 3 // <4=> 4 // <5=> 5 // <6=> 6 // <7=> 7 #ifndef NRFX_TWIS_DEFAULT_CONFIG_IRQ_PRIORITY #define NRFX_TWIS_DEFAULT_CONFIG_IRQ_PRIORITY 6 #endif // <e> NRFX_TWIS_CONFIG_LOG_ENABLED - Enables logging in the module. //========================================================== #ifndef NRFX_TWIS_CONFIG_LOG_ENABLED #define NRFX_TWIS_CONFIG_LOG_ENABLED 0 #endif // <o> NRFX_TWIS_CONFIG_LOG_LEVEL - Default Severity level // <0=> Off // <1=> Error // <2=> Warning // <3=> Info // <4=> Debug #ifndef NRFX_TWIS_CONFIG_LOG_LEVEL #define NRFX_TWIS_CONFIG_LOG_LEVEL 3 #endif // <o> NRFX_TWIS_CONFIG_INFO_COLOR - ANSI escape code prefix. // <0=> Default // <1=> Black // <2=> Red // <3=> Green // <4=> Yellow // <5=> Blue // <6=> Magenta // <7=> Cyan // <8=> White #ifndef NRFX_TWIS_CONFIG_INFO_COLOR #define NRFX_TWIS_CONFIG_INFO_COLOR 0 #endif // <o> NRFX_TWIS_CONFIG_DEBUG_COLOR - ANSI escape code prefix. // <0=> Default // <1=> Black // <2=> Red // <3=> Green // <4=> Yellow // <5=> Blue // <6=> Magenta // <7=> Cyan // <8=> White #ifndef NRFX_TWIS_CONFIG_DEBUG_COLOR #define NRFX_TWIS_CONFIG_DEBUG_COLOR 0 #endif // </e> // </e> // <e> NRFX_TWI_ENABLED - nrfx_twi - TWI peripheral driver //========================================================== #ifndef NRFX_TWI_ENABLED #define NRFX_TWI_ENABLED 1 #endif // <q> NRFX_TWI0_ENABLED - Enable TWI0 instance #ifndef NRFX_TWI0_ENABLED #define NRFX_TWI0_ENABLED 0 #endif // <q> NRFX_TWI1_ENABLED - Enable TWI1 instance #ifndef NRFX_TWI1_ENABLED #define NRFX_TWI1_ENABLED 0 #endif // <o> NRFX_TWI_DEFAULT_CONFIG_FREQUENCY - Frequency // <26738688=> 100k // <67108864=> 250k // <104857600=> 400k #ifndef NRFX_TWI_DEFAULT_CONFIG_FREQUENCY #define NRFX_TWI_DEFAULT_CONFIG_FREQUENCY 26738688 #endif // <q> NRFX_TWI_DEFAULT_CONFIG_HOLD_BUS_UNINIT - Enables bus holding after uninit #ifndef NRFX_TWI_DEFAULT_CONFIG_HOLD_BUS_UNINIT #define NRFX_TWI_DEFAULT_CONFIG_HOLD_BUS_UNINIT 0 #endif // <o> NRFX_TWI_DEFAULT_CONFIG_IRQ_PRIORITY - Interrupt priority // <0=> 0 (highest) // <1=> 1 // <2=> 2 // <3=> 3 // <4=> 4 // <5=> 5 // <6=> 6 // <7=> 7 #ifndef NRFX_TWI_DEFAULT_CONFIG_IRQ_PRIORITY #define NRFX_TWI_DEFAULT_CONFIG_IRQ_PRIORITY 6 #endif // <e> NRFX_TWI_CONFIG_LOG_ENABLED - Enables logging in the module. //========================================================== #ifndef NRFX_TWI_CONFIG_LOG_ENABLED #define NRFX_TWI_CONFIG_LOG_ENABLED 0 #endif // <o> NRFX_TWI_CONFIG_LOG_LEVEL - Default Severity level // <0=> Off // <1=> Error // <2=> Warning // <3=> Info // <4=> Debug #ifndef NRFX_TWI_CONFIG_LOG_LEVEL #define NRFX_TWI_CONFIG_LOG_LEVEL 3 #endif // <o> NRFX_TWI_CONFIG_INFO_COLOR - ANSI escape code prefix. // <0=> Default // <1=> Black // <2=> Red // <3=> Green // <4=> Yellow // <5=> Blue // <6=> Magenta // <7=> Cyan // <8=> White #ifndef NRFX_TWI_CONFIG_INFO_COLOR #define NRFX_TWI_CONFIG_INFO_COLOR 0 #endif // <o> NRFX_TWI_CONFIG_DEBUG_COLOR - ANSI escape code prefix. // <0=> Default // <1=> Black // <2=> Red // <3=> Green // <4=> Yellow // <5=> Blue // <6=> Magenta // <7=> Cyan // <8=> White #ifndef NRFX_TWI_CONFIG_DEBUG_COLOR #define NRFX_TWI_CONFIG_DEBUG_COLOR 0 #endif
