A while back I was working on I2C and came across the compiler error " 'NRFX_TWI0_INST_IDX' undeclared ", which seemed to be related to NRF drivers vs NRFX drivers confusion. I recall researching here and not finding anything. I am sorry I don't recall every little detail, but still wanted to share:
I wonder whether there is a bug in apply_old_config.h line 1116 in SDK16.0.0
It reads "#if defined(TWI_ENABLED)", and in this case #undef's a number of NRFX related defines.
Since in the sdk_config.h file (at least in many examples), TWI_ENABLED is almost always #defined (just sometimes a 0), the above statement is almost always true.
I believe the line should read something along the lines of
#if defined(TWI_ENABLED) && (TWI_ENABLED==1)
I also recall, that apply_old_config.h is unconditionally included through many levels, starting with #include "nrfx_twi.h" in my main.c and cascading into nrfx_glue.h . Ie, you can't avoid the line above in apply_old_config.h .
An alternate solution for me was, to change the sdk_config.h line
// <e> TWI_ENABLED - nrf_drv_twi - TWI/TWIM peripheral driver - legacy layer
//==========================================================
#ifndef TWI_ENABLED
#define TWI_ENABLED 0
#endif
to
//#define TWI_ENABLED 0
Hope this is of help to someone. And maybe Nordic can review the #define in apply_old_config.h
