TWI returns error 3 sometimes

[Geass77]

I'm using the mpu9250 connect to tca9548a  and connect to the board, but if I move my sensor , sometimes twi  read and write  returns error code=3(but it usually don't happen when I don;t move the sensor ), I'm use the pull-up register but have the same problem, I can't not make sure how this problem happened by the way, is there any method to close or open  the twi internal register in sdk15.3

[Kenneth]

The description of the error in xfer_completeness_check() seems to be:

// If the actual number of transferred bytes is not equal to what was requested,
// but there was no error signaled by the peripheral, this means that something
// unexpected, like a premature STOP condition, happened on the bus.
// In such case the peripheral has to be disabled and re-enabled, so that its
// internal state machine is reinitialized.

Do you have a logic analyzer trace (e.g. https://www.saleae.com/) of the error?

Are you using nRF52832? In that case have you set TWIM_NRF52_ANOMALY_109_WORKAROUND_ENABLED? (https://infocenter.nordicsemi.com/topic/errata_nRF52832_Rev2/ERR/nRF52832/Rev2/latest/anomaly_832_109.html)

Best regards,
Kenneth

[Geass77]

I don't have the logic analyzer trace, is it ok to use the oscilloscope?i

I'm using nrf52840

[Kenneth]

Maybe, if you are able to record all the clock and data bytes when it fails, but it typically is much easier to decode with the built-in I2C decoder of a logic analyzer. 

Best regards,
Kenneth

[Geass77]

Is their any method to disable the internal pull up register in sdk 15.3? 

[Kenneth]

Unless you don't want to modify the driver I assume you will have to call the following between _init() and _enable():

nrf_gpio_cfg_input(ARDUINO_SCL_PIN, NRF_GPIO_PIN_NOPULL);
nrf_gpio_cfg_input(ARDUINO_SDA_PIN, NRF_GPIO_PIN_NOPULL);