TWI-NRF_ERR_BUSY, when I call nrf_drv_twi_tx. Yesterday I could saw the debug error info from uart, but now the logs don't print even a character .

[Jerryxu]

Hi, 

yesterday, I met the same situation as here. But now, I can't even see one log, even after I annotated the code related twi and just remained some  “NRF_LOG_INFO（）” in main function.

I was confused about that. I've tried  all the ways that I could, I think.  I use the "twi_sensor " example, in SDK 15.0  and no soft devcie.

please help

Code as below.

int main(void)
{
	//uint8_t id;
    APP_ERROR_CHECK(NRF_LOG_INIT(NULL));
    NRF_LOG_DEFAULT_BACKENDS_INIT();

    NRF_LOG_INFO("\r\nTWI sensor example started.");
	  nrf_gpio_cfg_output(22);
	  nrf_gpio_pin_set(22);
//    twi_init();
//    ICM_init();
////    NRF_LOG_INFO("icm_init and id is%x\n",id);
////	  NRF_LOG_INFO("icm_init");
//	  data_conversion();
    while (true)
    {
			
			NRF_LOG_INFO("icm_init");
        nrf_delay_ms(50);

    

    }
}

code related twi:

void twi_handler(nrf_drv_twi_evt_t const * p_event, void * p_context)
{
    switch (p_event->type)
    {
        case NRF_DRV_TWI_EVT_DONE:
            if (p_event->xfer_desc.type == NRF_DRV_TWI_XFER_RX)
            {
                //data_handler(m_sample);
							 NRF_LOG_INFO("received complete");
            }
            m_xfer_done = true;
            break;
        default:
            break;
    }
}



void twi_init (void)
{
    ret_code_t err_code;

    const nrf_drv_twi_config_t twi_icm_config = {
       .scl                = ARDUINO_SCL_PIN,
       .sda                = ARDUINO_SDA_PIN,
       .frequency          = NRF_DRV_TWI_FREQ_400K,
       .interrupt_priority = APP_IRQ_PRIORITY_HIGH,
       .clear_bus_init     = false
    };

    err_code = nrf_drv_twi_init(&m_twi, &twi_icm_config, twi_handler, NULL);
    APP_ERROR_CHECK(err_code);

    nrf_drv_twi_enable(&m_twi);
}

code related sensor:(the sensor is  likely mpu's upgraded version )

Fullscreen icm20602.c Download

#include "icm20600.h"





static uint8_t tx_buffer[6];
static uint8_t rx_buffer[6];

uint8_t       *m_tx_buf=tx_buffer; 
uint8_t       *m_rx_buf=rx_buffer; 

uint8_t H_rx_buf[1];
uint8_t L_rx_buf[1];



float icm_acc_x=1.0;
int16_t icm_acc_x_hex=1;
int16_t x_data=1;


void ICM_write(uint8_t *tx_data,uint8_t  tx_length)
{

	  m_xfer_done = false;
    ret_code_t err_code;
	  err_code = nrf_drv_twi_tx(&m_twi, i2c_address, tx_data,tx_length, 0);
	while (m_xfer_done == false);
    APP_ERROR_CHECK(err_code);
    //while (m_xfer_done == false);
}

void ICM_read(uint8_t *rx_data,uint8_t  rx_length)
{
  m_xfer_done = false;
    ret_code_t err_code;
//	  err_code = nrf_drv_twi_tx(&m_twi, i2c_address,&addr,1, 1);
//    APP_ERROR_CHECK(err_code);
//	  while (m_xfer_done == false);
	  err_code = nrf_drv_twi_rx(&m_twi, i2c_address, rx_data,rx_length);
	while (m_xfer_done == false);
    APP_ERROR_CHECK(err_code);
    //while (m_xfer_done == false);
}





/** 

*   sample_rate  set
*/
void ICM_Set_Rate(uint16_t rate)     
{
	uint8_t div,DLPF_CFG;
	uint16_t filter=rate/2;
	if(rate>1000)
	{rate=1000;}
	
	 if (filter >= 176) {
        DLPF_CFG = 1;
    } else if (filter >= 92) {
        DLPF_CFG = 2;
    } else if (filter >= 41) {
        DLPF_CFG = 3;
    } else if (filter >= 20) {
        DLPF_CFG = 4;
    } else if (filter >= 10) {
        DLPF_CFG = 5;
    } else {
        DLPF_CFG = 6;
    }
  m_tx_buf[0]=ICM20602_GYRO_CONFIG_REG;
	m_tx_buf[1]=DLPF_CFG; 
  ICM_write(m_tx_buf,2);
		
  div=(1000/rate)-1;
	m_tx_buf[0]=ICM20602_SMPLRT_DIV;
	m_tx_buf[1]=div;
	ICM_write(m_tx_buf,2);
}


/*accelerometer_threshold*/
uint8_t set_accelerometer_threshold(uint8_t threshold)
{
	  uint8_t accl_val;

    if(threshold > 100){
        return 1;
    }
    uint16_t val_1= threshold * 0xFF;
    accl_val = (uint8_t)(val_1 / 100);
  
	m_tx_buf[0]=ICM20602_LACCEL_WOM_X_THR;
	m_tx_buf[1]=accl_val;                    
	m_tx_buf[2]=ICM20602_LACCEL_WOM_Y_THR;
	m_tx_buf[3]=accl_val;                    
	m_tx_buf[4]=ICM20602_LACCEL_WOM_Z_THR; 
	m_tx_buf[5]=accl_val;                    
  ICM_write(m_tx_buf,6);

    return 0; 

}

/*****************************sensor_init****************************
*
*/
void ICM_init()
{
	uint8_t ICM_ID,id;
	/*reset sensor*/
	m_tx_buf[0]=ICM20602_PWR_MGMT1_REG;
	m_tx_buf[1]=0x80;
	ICM_write(m_tx_buf,2);
	nrf_delay_ms(100);
	
	/*reset all registers*/
	m_tx_buf[0]=ICM20602_USER_CTRL;
	m_tx_buf[1]=0x01;
	ICM_write(m_tx_buf,2);
	nrf_delay_ms(100);
	
	m_tx_buf[0]=ICM20602_USER_CTRL;
	m_tx_buf[1]=0x00;
	ICM_write(m_tx_buf,2);
	
	/*device id judgment */
	m_tx_buf[0]=ICM20602_WHO_AM_I;
	ICM_write(m_tx_buf,1);
	ICM_read(m_rx_buf,1);
	ICM_ID=*m_rx_buf;
	if(ICM_ID){NRF_LOG_INFO("ICM_ID is:%x\n",ICM_ID);}
	else {NRF_LOG_INFO("ICM_ID false");}
	//return ICM_ID;

	
	
	if(ICM_ID==0x12)
	{

	m_tx_buf[0]=ICM20602_GYRO_CONFIG_REG;
	m_tx_buf[1]=0x18;                    
	m_tx_buf[2]=ICM20602_ACCEL_CONFIG1_REG;
	m_tx_buf[3]=0;                       
	ICM_write(m_tx_buf,4);
	

	ICM_Set_Rate(50);
	

	m_tx_buf[0]=ICM20602_INT_ENABLE_REG;
	m_tx_buf[1]=0x00;                   
	m_tx_buf[2]=ICM20602_FIFO_EN;
	m_tx_buf[3]=0x00;                   
	m_tx_buf[4]=ICM20602_INT_PIN_CFG; 
	m_tx_buf[5]=0x80;                    

	/*set clock source*/
	m_tx_buf[0]=ICM20602_PWR_MGMT1_REG;
	m_tx_buf[1]=0x01;                     //Auto selects the best available clock source � PLL if ready, else use the Internal oscillator
	ICM_write(m_tx_buf,2);
	

	while(set_accelerometer_threshold(0x50)==1);
	
	
	/*start accelerometer*/
	m_tx_buf[0]=ICM20602_PWR_MGMT2_REG ;
	m_tx_buf[1]=0x00;                     
	ICM_write(m_tx_buf,2);
	
	NRF_LOG_INFO("ICM initalize success");
  }
	else
		{
		NRF_LOG_INFO("ICM initalize failed");
		}

}




/**************************Accelerometer read *****************************/


int16_t ICM_Get_X_Accelerometer()
{
	
	uint8_t XOUT_H,XOUT_L;
  m_tx_buf[0]=ICM20602_ACCEL_XOUT_H ;
  ICM_write(m_tx_buf,1);
	ICM_read(H_rx_buf,1);
	
	m_tx_buf[0]=ICM20602_ACCEL_XOUT_L ;
  ICM_write(m_tx_buf,1);
	ICM_read(L_rx_buf,1);

	x_data=(int16_t)((uint16_t)((H_rx_buf[0])<<8)|(L_rx_buf[0]));
	return x_data;
}

void data_conversion()
{
	icm_acc_x_hex=ICM_Get_X_Accelerometer();
	icm_acc_x=(float)icm_acc_x_hex/16384;
	NRF_LOG_INFO("icm_acc_x:%x\n",icm_acc_x_hex);
}

icm20602.h

[Jared]

Hi, 

Are you using deferred mode? If so, then you need to call  NRF_LOG_INFO_FLUSH() in the main loop.

regards

Jared 

[Jerryxu]

Hello,Jared

sorry, I didn't know much about the deferred mode, there was a NRF_LOG_FLUSH() originally in main function, I deleted it. I added  NRF_LOG_INFO_FLUSH() , it worked. But  it has to put NRF_LOG_FLUSH()  after every NRF_LOG_INFO()?? It's not very convenient for me, how to modify it? Making logs print without NRF_LOG_FLUSH() . 

And can NRF_LOG_INFO() print type of float ? I did some tests and it seemed that it couldn't print float type.

best regards,

Jerry

[Jared]

Hi,

Jerryxu said:

But  it has to put NRF_LOG_FLUSH()  after every NRF_LOG_INFO()?? It's not very convenient for me, how to modify it? Making logs print without NRF_LOG_FLUSH() . 

 The usual approach is to call it in the main loop, as shown in our examples in the SDK. 

Jerryxu said:

And can NRF_LOG_INFO() print type of float ? I did some tests and it seemed that it couldn't print float type.

 See NRF_LOG_FLOAT().

best regards

Jared