I am using NRF52832, twi_sensor_pca10040 example with SHT3X sensor.
I changed slave address to 0X44 and SCL, SDA pin to 27 and 26. TWI TX transfer work fine, in response I am geeting 6 byte of data from SHT3X sensor ( TWI slave address 0x44 ).
In twi_sensor_pca10040 example, from twi_handler() hadler, read_data() function is called. For received data manupulation, I changed code logic in read_data() function, called from twi_handler(). Every time read_data() function called I get HardFault_Handler fault and board hang.
For testing, I commented read_data() function; then after TWI RX data buffer updates fine with every TWI TX request. I checked it by placeing read buffer in keil debug mode watch window.
Why function call from twi_handler() is giving me HardFault_Handler fault? I am not getting how to debug it?
/* Copyright (c) 2015 Nordic Semiconductor. All Rights Reserved.
*
* The information contained herein is property of Nordic Semiconductor ASA.
* Terms and conditions of usage are described in detail in NORDIC
* SEMICONDUCTOR STANDARD SOFTWARE LICENSE AGREEMENT.
*
* Licensees are granted free, non-transferable use of the information. NO
* WARRANTY of ANY KIND is provided. This heading must NOT be removed from
* the file.
*
*/
/** @file
* @defgroup tw_sensor_example main.c
* @{
* @ingroup nrf_twi_example
* @brief TWI Sensor Example main file.
*
* This file contains the source code for a sample application using TWI.
*
*/
#include <stdio.h>
#include "boards.h"
#include "app_util_platform.h"
#include "app_uart.h"
#include "app_error.h"
#include "nrf_drv_twi.h"
#include "nrf_delay.h"
/*Pins to connect shield. */
#define ARDUINO_I2C_SCL_PIN 27
#define ARDUINO_I2C_SDA_PIN 26
/*UART buffer size. */
#define UART_TX_BUF_SIZE 256
#define UART_RX_BUF_SIZE 1
/*Common addresses definition for accelereomter. */
#define MMA7660_ADDR 0x44 //(0x98U >> 1)
#define MMA7660_REG_XOUT 0x00U
#define MMA7660_REG_YOUT 0x01U
#define MMA7660_REG_ZOUT 0x02U
#define MMA7660_REG_TILT 0x03U
#define MMA7660_REG_SRST 0x04U
#define MMA7660_REG_SPCNT 0x05U
#define MMA7660_REG_INTSU 0x06U
#define MMA7660_REG_MODE 0x07U
#define MMA7660_REG_SR 0x08U
#define MMA7660_REG_PDET 0x09U
#define MMA7660_REG_PD 0x0AU
/* Mode for MMA7660. */
#define ACTIVE_MODE 1u
/*Failure flag for reading from accelerometer. */
#define MMA7660_FAILURE_FLAG (1u << 6)
/*Tilt specific bits*/
#define TILT_TAP_MASK (1U << 5)
#define TILT_SHAKE_MASK (1U << 7)
// [max 255, otherwise "int16_t" won't be sufficient to hold the sum
// of accelerometer samples]
#define NUMBER_OF_SAMPLES 20
/* Define version of GCC. */
#define GCC_VERSION (__GNUC__ * 10000 \
+ __GNUC_MINOR__ * 100 \
+ __GNUC_PATCHLEVEL__)
/**
* @brief Structure for holding sum of samples from accelerometer.
*/
typedef struct
{
int16_t x;
int16_t y;
int16_t z;
} sum_t;
static sum_t m_sum = {0};
/**
* @brief Union to keep raw and converted data from accelerometer samples at one memory space.
*/
typedef union{
uint8_t raw;
int8_t conv;
}elem_t;
/**
* @brief Enum for selecting accelerometer orientation.
*/
typedef enum{
LEFT = 1,
RIGHT = 2,
DOWN = 5,
UP = 6
}accelerometer_orientation_t;
/**
* @brief Structure for holding samples from accelerometer.
*/
/*typedef struct
{
elem_t x;
elem_t y;
elem_t z;
uint8_t tilt;
} sample_t;
*/
typedef struct
{
elem_t tmsb;
elem_t tlsb;
elem_t tcrc;
elem_t hmsb;
elem_t hlsb;
elem_t hcrc;
} sample_t;
#ifdef __GNUC_PATCHLEVEL__
#if GCC_VERSION < 50505
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wmissing-braces" // Hack to GCC 4.9.3 bug. Can be deleted after switch on using GCC 5.0.0
#endif
#endif
/* Buffer for samples. */
static sample_t m_sample_buffer[NUMBER_OF_SAMPLES] = {0};
#ifdef __GNUC_PATCHLEVEL__
#if GCC_VERSION < 50505
#pragma GCC diagnostic pop
#endif
#endif
/* Indicates if reading operation from accelerometer has ended. */
static volatile bool m_xfer_done = true;
/* Indicates if setting mode operation has ended. */
static volatile bool m_set_mode_done = false;
/* TWI instance. */
static const nrf_drv_twi_t m_twi_mma_7660 = NRF_DRV_TWI_INSTANCE(0);
/**
* @brief Function for casting 6 bit uint to 6 bit int.
*
*/
__STATIC_INLINE void int_to_uint(int8_t * put, uint8_t data)
{
if (!(data & MMA7660_FAILURE_FLAG)) //6th bit is failure flag - we cannot read sample
{
*put = (int8_t)(data << 2) / 4;
}
}
/**
* @brief UART events handler.
*/
static void uart_events_handler(app_uart_evt_t * p_event)
{
switch (p_event->evt_type)
{
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;
}
}
/**
* @brief UART initialization.
*/
static void uart_config(void)
{
uint32_t err_code;
const app_uart_comm_params_t comm_params =
{
RX_PIN_NUMBER,
TX_PIN_NUMBER,
RTS_PIN_NUMBER,
CTS_PIN_NUMBER,
APP_UART_FLOW_CONTROL_DISABLED,
false,
UART_BAUDRATE_BAUDRATE_Baud38400
};
APP_UART_FIFO_INIT(&comm_params,
UART_RX_BUF_SIZE,
UART_TX_BUF_SIZE,
uart_events_handler,
APP_IRQ_PRIORITY_LOW,
err_code);
APP_ERROR_CHECK(err_code);
}
/**
* @brief Function for setting active mode on MMA7660 accelerometer.
*/
void MMA7660_set_mode(void)
{
ret_code_t err_code;
/* Writing to MMA7660_REG_MODE "1" enables the accelerometer. */
uint8_t reg[2] = {MMA7660_REG_MODE, ACTIVE_MODE};
err_code = nrf_drv_twi_tx(&m_twi_mma_7660, MMA7660_ADDR, reg, sizeof(reg), false);
APP_ERROR_CHECK(err_code);
while(m_set_mode_done == false);
}
/**
* @brief Function for averaging samples from accelerometer.
*/
void read_data(sample_t * p_new_sample)
{
static double temp, humd;
static uint8_t sample_idx;
sample_t * p_sample = &m_sample_buffer[sample_idx];
int_to_uint(&p_sample->hmsb.conv, p_new_sample->hmsb.raw);
int_to_uint(&p_sample->hlsb.conv, p_new_sample->hlsb.raw);
temp = ( ( ( p_new_sample->hmsb.conv << 8 ) + ( p_new_sample->hlsb.conv <<0 ) ) * 0.00267033 )- 45.0;
}
/**
* @brief TWI events handler.
*/
void twi_handler(nrf_drv_twi_evt_t const * p_event, void * p_context)
{
ret_code_t err_code;
static sample_t m_sample;
switch(p_event->type)
{
case NRF_DRV_TWI_EVT_DONE:
if ((p_event->type == NRF_DRV_TWI_EVT_DONE) &&
(p_event->xfer_desc.type == NRF_DRV_TWI_XFER_TX))
{
/* if(m_set_mode_done != true)
{
m_set_mode_done = true;
return;
}*/
m_xfer_done = false;
/* Read 4 bytes from the specified address. */
err_code = nrf_drv_twi_rx(&m_twi_mma_7660, MMA7660_ADDR, (uint8_t*)&m_sample, sizeof(m_sample));
APP_ERROR_CHECK(err_code);
}
else
{
read_data(&m_sample);
m_xfer_done = true;
}
break;
default:
break;
}
}
/**
* @brief UART initialization.
*/
void twi_init (void)
{
ret_code_t err_code;
const nrf_drv_twi_config_t twi_mma_7660_config = {
.scl = ARDUINO_SCL_PIN,
.sda = ARDUINO_SDA_PIN,
.frequency = NRF_TWI_FREQ_100K,
.interrupt_priority = APP_IRQ_PRIORITY_HIGH
};
err_code = nrf_drv_twi_init(&m_twi_mma_7660, &twi_mma_7660_config, twi_handler, NULL);
APP_ERROR_CHECK(err_code);
nrf_drv_twi_enable(&m_twi_mma_7660);
}
/**
* @brief Function for main application entry.
*/
int main(void)
{
//uart_config();
// int a = __GNUC__, c = __GNUC_PATCHLEVEL__;
// printf("\n\rTWI sensor example\r\n");
twi_init();
//MMA7660_set_mode();
//uint8_t reg = 0;
ret_code_t err_code;
uint8_t reg[2] = {0x2C, 0x10};
while(true)
{
nrf_delay_ms(100);
/* Start transaction with a slave with the specified address. */
do
{
__WFE();
}while(m_xfer_done == false);
err_code = nrf_drv_twi_tx(&m_twi_mma_7660, MMA7660_ADDR, reg, sizeof(reg), true);
APP_ERROR_CHECK(err_code);
m_xfer_done = false;
}
}
/** @} */
