undefined reference twi error

Hi,

I hope you can help me. I get an error while compiling. I merge "twi sensor" example from sdk to the "ble app uart" example from sdk. So I customize the sdk_config to enable twi. In addition to that, I add all missing nRF_Drivers to make it work. While compiling, I get the following output:

1> "C:/Program Files/SEGGER/SEGGER Embedded Studio for ARM 4.50/gcc/arm-none-eabi/bin/as" --traditional-format -I../../../config -I../../../../../../components -I../../../../../../components/ble/ble_advertising -I../../../../../../components/ble/ble_dtm -I../../../../../../components/ble/ble_link_ctx_manager -I../../../../../../components/ble/ble_racp -I../../../../../../components/ble/ble_services/ble_ancs_c -I../../../../../../components/ble/ble_services/ble_ans_c -I../../../../../../components/ble/ble_services/ble_bas -I../../../../../../components/ble/ble_services/ble_bas_c -I../../../../../../components/ble/ble_services/ble_cscs -I../../../../../../components/ble/ble_services/ble_cts_c -I../../../../../../components/ble/ble_services/ble_dfu -I../../../../../../components/ble/ble_services/ble_dis -I../../../../../../components/ble/ble_services/ble_gls -I../../../../../../components/ble/ble_services/ble_hids -I../../../../../../components/ble/ble_services/ble_hrs -I../../../../../../components/ble/ble_services/ble_hrs_c -I../../../../../../components/ble/ble_services/ble_hts -I../../../../../../components/ble/ble_services/ble_ias -I../../../../../../components/ble/ble_services/ble_ias_c -I../../../../../../components/ble/ble_services/ble_lbs -I../../../../../../components/ble/ble_services/ble_lbs_c -I../../../../../../components/ble/ble_services/ble_lls -I../../../../../../components/ble/ble_services/ble_nus -I../../../../../../components/ble/ble_services/ble_nus_c -I../../../../../../components/ble/ble_services/ble_rscs -I../../../../../../components/ble/ble_services/ble_rscs_c -I../../../../../../components/ble/ble_services/ble_tps -I../../../../../../components/ble/common -I../../../../../../components/ble/nrf_ble_gatt -I../../../../../../components/ble/nrf_ble_qwr -I../../../../../../components/ble/peer_manager -I../../../../../../components/boards -I../../../../../../components/libraries/atomic -I../../../../../../components/libraries/atomic_fifo -I../../../../../../components/libraries/atomic_flags -I../../../../../../components/libraries/balloc -I../../../../../../components/libraries/bootloader/ble_dfu -I../../../../../../components/libraries/bsp -I../../../../../../components/libraries/button -I../../../../../../components/libraries/cli -I../../../../../../components/libraries/crc16 -I../../../../../../components/libraries/crc32 -I../../../../../../components/libraries/crypto -I../../../../../../components/libraries/csense -I../../../../../../components/libraries/csense_drv -I../../../../../../components/libraries/delay -I../../../../../../components/libraries/ecc -I../../../../../../components/libraries/experimental_section_vars -I../../../../../../components/libraries/experimental_task_manager -I../../../../../../components/libraries/fds -I../../../../../../components/libraries/fifo -I../../../../../../components/libraries/fstorage -I../../../../../../components/libraries/gfx -I../../../../../../components/libraries/gpiote -I../../../../../../components/libraries/hardfault -I../../../../../../components/libraries/hci -I../../../../../../components/libraries/led_softblink -I../../../../../../components/libraries/log -I../../../../../../components/libraries/log/src -I../../../../../../components/libraries/low_power_pwm -I../../../../../../components/libraries/mem_manager -I../../../../../../components/libraries/memobj -I../../../../../../components/libraries/mpu -I../../../../../../components/libraries/mutex -I../../../../../../components/libraries/pwm -I../../../../../../components/libraries/pwr_mgmt -I../../../../../../components/libraries/queue -I../../../../../../components/libraries/ringbuf -I../../../../../../components/libraries/scheduler -I../../../../../../components/libraries/sdcard -I../../../../../../components/libraries/slip -I../../../../../../components/libraries/sortlist -I../../../../../../components/libraries/spi_mngr -I../../../../../../components/libraries/stack_guard -I../../../../../../components/libraries/strerror -I../../../../../../components/libraries/svc -I../../../../../../components/libraries/timer -I../../../../../../components/libraries/twi_mngr -I../../../../../../components/libraries/twi_sensor -I../../../../../../components/libraries/uart -I../../../../../../components/libraries/usbd -I../../../../../../components/libraries/usbd/class/audio -I../../../../../../components/libraries/usbd/class/cdc -I../../../../../../components/libraries/usbd/class/cdc/acm -I../../../../../../components/libraries/usbd/class/hid -I../../../../../../components/libraries/usbd/class/hid/generic -I../../../../../../components/libraries/usbd/class/hid/kbd -I../../../../../../components/libraries/usbd/class/hid/mouse -I../../../../../../components/libraries/usbd/class/msc -I../../../../../../components/libraries/util -I../../../../../../components/nfc/ndef/conn_hand_parser -I../../../../../../components/nfc/ndef/conn_hand_parser/ac_rec_parser -I../../../../../../components/nfc/ndef/conn_hand_parser/ble_oob_advdata_parser -I../../../../../../components/nfc/ndef/conn_hand_parser/le_oob_rec_parser -I../../../../../../components/nfc/ndef/connection_handover/ac_rec -I../../../../../../components/nfc/ndef/connection_handover/ble_oob_advdata -I../../../../../../components/nfc/ndef/connection_handover/ble_pair_lib -I../../../../../../components/nfc/ndef/connection_handover/ble_pair_msg -I../../../../../../components/nfc/ndef/connection_handover/common -I../../../../../../components/nfc/ndef/connection_handover/ep_oob_rec -I../../../../../../components/nfc/ndef/connection_handover/hs_rec -I../../../../../../components/nfc/ndef/connection_handover/le_oob_rec -I../../../../../../components/nfc/ndef/generic/message -I../../../../../../components/nfc/ndef/generic/record -I../../../../../../components/nfc/ndef/launchapp -I../../../../../../components/nfc/ndef/parser/message -I../../../../../../components/nfc/ndef/parser/record -I../../../../../../components/nfc/ndef/text -I../../../../../../components/nfc/ndef/uri -I../../../../../../components/nfc/platform -I../../../../../../components/nfc/t2t_lib -I../../../../../../components/nfc/t2t_parser -I../../../../../../components/nfc/t4t_lib -I../../../../../../components/nfc/t4t_parser/apdu -I../../../../../../components/nfc/t4t_parser/cc_file -I../../../../../../components/nfc/t4t_parser/hl_detection_procedure -I../../../../../../components/nfc/t4t_parser/tlv -I../../../../../../components/softdevice/common -I../../../../../../components/softdevice/s140/headers -I../../../../../../components/softdevice/s140/headers/nrf52 -I../../../../../../components/toolchain/cmsis/include -I../../../../../../external/fprintf -I../../../../../../external/segger_rtt -I../../../../../../external/utf_converter -I../../../../../../integration/nrfx -I../../../../../../integration/nrfx/legacy -I../../../../../../modules/nrfx -I../../../../../../modules/nrfx/drivers/include -I../../../../../../modules/nrfx/hal -I../../../../../../modules/nrfx/mdk -I../config -mcpu=cortex-m4 -mlittle-endian -mfloat-abi=hard -mfpu=fpv4-sp-d16 -mthumb "C:/Users/hp/Desktop/Firmware Entwicklung/nRF5SDK160098a08e2.zip/examples/ble_peripheral/ble_app_uart/pca10100/s140/ses/Output/ble_app_uart_pca10100_s140 Debug/Obj/main.asm" -o "Output/ble_app_uart_pca10100_s140 Debug/Obj/main.o"
1> rm "C:/Users/hp/Desktop/Firmware Entwicklung/nRF5SDK160098a08e2.zip/examples/ble_peripheral/ble_app_uart/pca10100/s140/ses/Output/ble_app_uart_pca10100_s140 Debug/Obj/main.asm"
1> Output/ble_app_uart_pca10100_s140 Debug/Obj/main.o (28.06.2020 20:58:16) is newer than Output/Debug/Exe/ble_app_uart_pca10100_s140.elf (28.06.2020 20:57:32).
1> Linking ble_app_uart_pca10100_s140.elf
1> "C:/Program Files/SEGGER/SEGGER Embedded Studio for ARM 4.50/gcc/arm-none-eabi/bin/ld" -X --omagic -eReset_Handler --defsym=__vfprintf=__vfprintf_long --defsym=__vfscanf=__vfscanf_long -EL --gc-sections "-TC:/Users/hp/Desktop/Firmware Entwicklung/nRF5SDK160098a08e2.zip/examples/ble_peripheral/ble_app_uart/pca10100/s140/ses/Output/ble_app_uart_pca10100_s140 Debug/Obj/ble_app_uart_pca10100_s140.ld" -Map Output/Debug/Exe/ble_app_uart_pca10100_s140.map -u_vectors -o Output/Debug/Exe/ble_app_uart_pca10100_s140.elf --emit-relocs --start-group "@C:/Users/hp/Desktop/Firmware Entwicklung/nRF5SDK160098a08e2.zip/examples/ble_peripheral/ble_app_uart/pca10100/s140/ses/Output/ble_app_uart_pca10100_s140 Debug/Obj/ble_app_uart_pca10100_s140.ind" --end-group
1> C:/Program Files/SEGGER/SEGGER Embedded Studio for ARM 4.50/gcc/arm-none-eabi/bin/ld: Output/ble_app_uart_pca10100_s140 Debug/Obj/nrf_drv_twi.o: in function `nrf_drv_twi_init':
1> C:\Users\hp\Desktop\Firmware Entwicklung\nRF5SDK160098a08e2.zip\integration\nrfx\legacy/nrf_drv_twi.c:186: undefined reference to `nrfx_twi_init'
1> C:/Program Files/SEGGER/SEGGER Embedded Studio for ARM 4.50/gcc/arm-none-eabi/bin/ld: Output/ble_app_uart_pca10100_s140 Debug/Obj/main.o: in function `nrf_drv_twi_enable':
1> C:\Users\hp\Desktop\Firmware Entwicklung\nRF5SDK160098a08e2.zip\examples\ble_peripheral\ble_app_uart\pca10100\s140\ses/../../../../../../integration/nrfx/legacy/nrf_drv_twi.h:513: undefined reference to `nrfx_twim_enable'
1> C:/Program Files/SEGGER/SEGGER Embedded Studio for ARM 4.50/gcc/arm-none-eabi/bin/ld: Output/ble_app_uart_pca10100_s140 Debug/Obj/main.o: in function `nrf_drv_twi_tx':
1> C:\Users\hp\Desktop\Firmware Entwicklung\nRF5SDK160098a08e2.zip\examples\ble_peripheral\ble_app_uart\pca10100\s140\ses/../../../../../../integration/nrfx/legacy/nrf_drv_twi.h:544: undefined reference to `nrfx_twim_tx'
Build failed

But I don´t know what I´m making wrong.

Could you help me with that?

Thanks in advance

Parents Reply
  • Hi Karl,

    unfortunaly, I´m getting a error while trying to make my sensor work with TWIM. Maybe you could help me. I think I can reach the sensor correctly, because if I change the sensor I2C adress the application doesn´t work - so I think I2C connection works fine and the sensor is reachable.

    I´m not sure, how to work with this TWIM functions. I looked at your example, but I have one or two questions:

    1.: I wrote a function ICM20948_set_mode:

    void ICM20948_set_mode(void)
    {
    
        ret_code_t err_code;
    
    
        /* Sensor en */
        uint8_t reg[2] = {0x06, 0x01};
        nrfx_twim_xfer_desc_t normal_mode_config = NRFX_TWIM_XFER_DESC_TX(ICM20948_ADDR, reg, sizeof(reg));
        err_code = nrfx_twim_xfer(&m_twim, &normal_mode_config, NULL);
        while (m_xfer_done == false);
    
    
            /*Select User Bank 0 */
        reg[0] = 0x7F;
        reg[1] = 0x00;
        m_xfer_done = false;
        nrfx_twim_xfer_desc_t sensor_on = NRFX_TWIM_XFER_DESC_TX(ICM20948_ADDR, reg, sizeof(reg));
        err_code = nrfx_twim_xfer(&m_twim, &normal_mode_config, NULL);    APP_ERROR_CHECK(err_code);
        while (m_xfer_done == false);
    
          
    
    }

    I´m not sure, when to use "m_xfer_done = false;" In the first lines it is included, in the second lines not. I copied this from your example. It is my aim, to write to two registers:

    - Enable Sensor

    - Selecting the correct User Bank / Registertable

    2.: I wrote a function "read_sensor_data":

    static void read_sensor_data()
    {
    
        ret_code_t err_code1;
    
        /* register 0 */
        uint8_t reg1 = 0x00;
        nrfx_twim_xfer_desc_t normal_mode_config = NRFX_TWIM_XFER_DESC_TX(ICM20948_ADDR, &reg1, 1);
    
    
    
     m_xfer_done = false;
        
        nrfx_twim_xfer_desc_t lm75b_reading = NRFX_TWIM_XFER_DESC_RX(ICM20948_ADDR, &m_sample, 1);
    
        /* Read 1 byte from the specified address  */
        ret_code_t err_code = nrfx_twim_xfer(&m_twim, &lm75b_reading, NULL);
        APP_ERROR_CHECK(err_code);
    
    
    
    }

    So I first write the correct register - the register I want to read from (0).

    Then I read 1 byte of this register.

    The register 0 is a "test-register" from the sensor (ICM20948), and the standard value stored in this register is "0xEA". So i should read this value.

    But if I watch the value from "m_sample", there I can see different values in it...I update this variable twice a second...sometimes I can see the correct value "0xEA". But not always.  Something I´m making wrong...

    In general, for I2C communiction I need to write to a register, before I can read it. Is that correct?

    I also attached my main.c, if you need this for analyzing.

    1411.main.c
    /**
     * Copyright (c) 2014 - 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
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     * 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.
     *
     */
    /** @file
     *
     * @defgroup ble_sdk_uart_over_ble_main main.c
     * @{
     * @ingroup  ble_sdk_app_nus_eval
     * @brief    UART over BLE application main file.
     *
     * This file contains the source code for a sample application that uses the Nordic UART service.
     * This application uses the @ref srvlib_conn_params module.
     */
    
    
    #include <stdint.h>
    #include <string.h>
    #include "nordic_common.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 "ble_nus.h"
    #include "app_uart.h"
    #include "app_util_platform.h"
    #include "bsp_btn_ble.h"
    #include "nrf_pwr_mgmt.h"
    
    #if defined (UART_PRESENT)
    #include "nrf_uart.h"
    #endif
    #if defined (UARTE_PRESENT)
    #include "nrf_uarte.h"
    #endif
    
    #include "nrfx_twim.h"
    
    #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                     "TRAINIO"                               /**< 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. */
    
    // TWIM SENSOR EXAMPLE MERGE START
    
    #define TWIM_INSTANCE_ID                1
    
    
    /* TWI ICM20948 Adresse. */
    #define ICM20948_ADDR    0x69
    
    /* ICM20948 Register * s. datasheet*/
    #define USER_BANK        0x7F
    #define ACCEL_X_H        0x2D
    #define ACCEL_X_L        0x2E
    
    #define b_Battery_Pin 33
    
    
    static volatile bool m_xfer_done = false;
    
    static const nrfx_twim_t m_twim = NRFX_TWIM_INSTANCE(TWIM_INSTANCE_ID);
    
    /* Buffer for samples read from sensor. */
    static uint8_t m_sample;
    
    
    // ICM20948 Daten
    uint8_t ACCEL_X_High = 0x2D;
    uint8_t ACCEL_X_Low;
    
    // TWIM SENSOR EXAMPLE MERGE STOP
    
    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);
            }
        }
    
    }
    /**@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 >= 10))
                {
                    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)
    {
        if (NRF_LOG_PROCESS() == false)
        {
            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);
    }
    
    
    
    
    // TWIM SENSOR EXAMPLE MERGE START
    
    
    void ICM20948_set_mode(void)
    {
    
        ret_code_t err_code;
    
        /* Sensor en */
        uint8_t reg[2] = {0x06, 0x01};
        nrfx_twim_xfer_desc_t normal_mode_config = NRFX_TWIM_XFER_DESC_TX(ICM20948_ADDR, reg, sizeof(reg));
        err_code = nrfx_twim_xfer(&m_twim, &normal_mode_config, NULL);
        while (m_xfer_done == false);
    
    
            /*Select User Bank 0 */
        reg[0] = 0x7F;
        reg[1] = 0x00;
        m_xfer_done = false;
        nrfx_twim_xfer_desc_t sensor_on = NRFX_TWIM_XFER_DESC_TX(ICM20948_ADDR, reg, sizeof(reg));
        err_code = nrfx_twim_xfer(&m_twim, &normal_mode_config, NULL);    APP_ERROR_CHECK(err_code);
        while (m_xfer_done == false);
    
          
    
    }
    
    /**
     * @brief Function for handling data from temperature sensor.
     *
     * @param[in] temp          Temperature in Celsius degrees read from sensor.
     */
    __STATIC_INLINE void data_handler(uint8_t temp)
    {
        NRF_LOG_INFO("%d", temp);
    }
    
    
    /**
     * @brief TWI events handler.
     */
    void twim_handler(nrfx_twim_evt_t const * p_event, void * p_context)
    {
        switch (p_event->type)
        {
            case NRFX_TWIM_EVT_DONE:
                if (p_event->xfer_desc.type == NRFX_TWIM_XFER_RX)
                {
                    data_handler(m_sample);
                }
                m_xfer_done = true;
                break;
            default:
                break;
        }
    }
    
    /**
     * @brief UART initialization.
     */
    void twim_init (void)
    {
        ret_code_t err_code;
    
        nrfx_twim_config_t twim_lm75b_config = NRFX_TWIM_DEFAULT_CONFIG;
    
        twim_lm75b_config.scl = 13;
        twim_lm75b_config.sda = 16;
    
        err_code = nrfx_twim_init(&m_twim, &twim_lm75b_config, twim_handler, NULL);
        APP_ERROR_CHECK(err_code);
    
        nrfx_twim_enable(&m_twim);
    }
    
    /**
     * @brief Function for reading data from temperature sensor.
     */
    static void read_sensor_data()
    {
    
        ret_code_t err_code1;
    
        /* register 0 */
        uint8_t reg1 = 0x00;
        nrfx_twim_xfer_desc_t normal_mode_config = NRFX_TWIM_XFER_DESC_TX(ICM20948_ADDR, &reg1, 1);
    
    
    
     m_xfer_done = false;
        
        nrfx_twim_xfer_desc_t lm75b_reading = NRFX_TWIM_XFER_DESC_RX(ICM20948_ADDR, &m_sample, 1);
    
        /* Read 1 byte from the specified address  */
        ret_code_t err_code = nrfx_twim_xfer(&m_twim, &lm75b_reading, NULL);
        APP_ERROR_CHECK(err_code);
    
    
    
    }
    
    
    
    
    
    // TWIM SENSOR EXAMPLE MERGE STOP
    
    
    
    
    /**@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();
    
        twim_init();
        ICM20948_set_mode();
    
        // Start execution.
        printf("\r\nUART started.\r\n");
        NRF_LOG_INFO("Debug logging for UART over RTT started.");
        advertising_start();
    
    
    while (true)
        {
           
            do
            {
                __WFE();
            }while (m_xfer_done == false);
         
            read_sensor_data();
         
    
    
    
           
        }
       
    }
    
    
    /**
     * @}
     */
    

    Thanks in advance!

    Simon

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