MPU6050 Problem

Question

Hello.

I written code for nRF51822 w/ MPU6050 in S110(8.0.0) and Keil.

I tried to setup gyro as bellow.

twi_master_init(); => mpu6050_init(MOTION_SENSOR_ADDRESS); => mpu6050_register_write(0x6b, 0x00); // Kick out sleep mode. => mpu6050_register_write(0x6c, 0x00); // Activate Acc & Gyro. => mpu6050_register_read(ACCEL_XOUT_H, buf, 14); // <= Hardfault Error w/ Reboot Device.

I checked debuger, break at HardFault_Handler in arm_startup_nrf51.s

Why occure HardFault and how can I solve this problem?

I attached full source code.

Thank you.

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 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 "nrf51_bitfields.h" #include "ble_hci.h" #include "ble_advdata.h" #include "ble_conn_params.h" #include "softdevice_handler.h" #include "app_timer.h" #include "app_gpiote.h" #include "app_button.h" #include "ble_nus.h" #include "app_uart.h" #include "app_util_platform.h" #include "bsp.h"

// For Gyro Scope. #include "mpu6050.h" #include "twi_master.h"

#define IS_SRVC_CHANGED_CHARACT_PRESENT 0 /**< Include the service_changed characteristic. If not enabled, the server's database cannot be changed for the lifetime of the device. */

#define WAKEUP_BUTTON_ID 0 /**< Button used to wake up the application. */

#define DEVICE_NAME "IE Love" /**< Name of device. Will be included in the advertising data. */

#define APP_ADV_INTERVAL 64 /< The advertising interval (in units of 0.625 ms. This value corresponds to 40 ms). */ #define APP_ADV_TIMEOUT_IN_SECONDS 180 /< The advertising timeout (in units of seconds). */

#define APP_TIMER_PRESCALER 0 /< Value of the RTC1 PRESCALER register. */ #define APP_TIMER_MAX_TIMERS (2 + BSP_APP_TIMERS_NUMBER) /< Maximum number of simultaneously created timers. */ #define APP_TIMER_OP_QUEUE_SIZE 4 /**< Size of timer operation queues. */

#define APP_GPIOTE_MAX_USERS 1 /**< Maximum number of simultaneously GPIOTE users. */

// Motion Sensor Detection Interval #define MOTION_SENSOR_INTERVAL APP_TIMER_TICKS(300, APP_TIMER_PRESCALER) /**< RR interval interval (ticks). */ #define MOTION_SENSOR_ADDRESS (0x68U)

//----------------------------------------------------------------------------- // Register map for Mation Sensor //----------------------------------------------------------------------------- #define MPU_CONFIG 0x1A #define GYRO_CONFIG 0x1B #define ACCEL_CONFIG 0x1C #define ZRMOT_THR 0x21 #define ZRMOT_DUR 0x22 #define ACCEL_XOUT_H 0x3B #define ACCEL_XOUT_L 0x3C #define ACCEL_YOUT_H 0x3D #define ACCEL_YOUT_L 0x3E #define ACCEL_ZOUT_H 0x3F #define ACCEL_ZOUT_L 0x40 #define TEMP_OUT_H 0x41 #define TEMP_OUT_L 0x42 #define ANGLE_XOUT_H 0x43 #define ANGLE_XOUT_L 0x44 #define ANGLE_YOUT_H 0x45 #define ANGLE_YOUT_L 0x46 #define ANGLE_ZOUT_H 0x47 #define ANGLE_ZOUT_L 0x48 #define INT_PIN_CFG 0x37 #define INT_ENABLE 0x38 #define INT_STATUS 0x3A #define MOT_DETECT_STATUS 0x61 #define MOT_DETECT_CTRL 0x69 #define PWR_MGMT_1 0x6B #define PWR_MGMT_2 0x6C #define MPU_WHO_AM_I 0x75

#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, APP_TIMER_PRESCALER) /< 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, APP_TIMER_PRESCALER) /< 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 BUTTON_DETECTION_DELAY APP_TIMER_TICKS(50, APP_TIMER_PRESCALER) /**< Delay from a GPIOTE event until a button is reported as pushed (in number of timer ticks). */

#define SEC_PARAM_BOND 1 /< Perform bonding. */ #define SEC_PARAM_MITM 0 /< Man In The Middle protection not required. */ #define SEC_PARAM_IO_CAPABILITIES BLE_GAP_IO_CAPS_NONE /< No I/O capabilities. */ #define SEC_PARAM_OOB 0 /< Out Of Band data not available. */ #define SEC_PARAM_MIN_KEY_SIZE 7 /< Minimum encryption key size. */ #define SEC_PARAM_MAX_KEY_SIZE 16 /< Maximum encryption key size. */

#define START_STRING "Start...\n" /**< The string that will be sent over the UART when the application starts. */

#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. */

const static uint8_t s_register_config[][2] = { { PWR_MGMT_1, 0x00 } };

static app_timer_id_t m_motion_sensor_timer_id; /< Motion Sensor timer. */ static ble_gap_sec_params_t m_sec_params; /< Security requirements for this application. */ static ble_nus_t m_nus; /< Structure to identify the Nordic UART Service. */ static uint16_t m_conn_handle = BLE_CONN_HANDLE_INVALID; /< Handle of the current connection. */

/**

Holds sensor 3 axes values
May hold the sensor data itself or may be used to specify sensor axes attribute (deadband, offset...) */ typedef struct { int16_t X; //!< Data pertaining to the X axis int16_t Y; //!< Data pertaining to the Y axis int16_t Z; //!< Data pertaining to the Z axis } t_struct_Motion_SensorAxis;

typedef struct { t_struct_Motion_SensorAxis GyroSamples; t_struct_Motion_SensorAxis AccSamples; int16_t Temp; }t_struct_Motion_Sensor;

uint32_t drv_gyro_read(t_struct_Motion_Sensor* p_samples) { bool success = true; uint8_t buf[20];

success &= mpu6050_register_read(ACCEL_XOUT_H, buf, 14);

/*success &= mpu6050_register_read(ANGLE_XOUT_H, buf, 1);
success &= mpu6050_register_read(ANGLE_XOUT_L, buf+1, 1);
success &= mpu6050_register_read(ANGLE_YOUT_H, buf+2, 1);
success &= mpu6050_register_read(ANGLE_YOUT_L, buf+3, 1);
success &= mpu6050_register_read(ANGLE_ZOUT_H, buf+4, 1);
success &= mpu6050_register_read(ANGLE_ZOUT_L, buf+5, 1);
success &= mpu6050_register_read(TEMP_OUT_H, buf+6, 1);
success &= mpu6050_register_read(TEMP_OUT_L, buf+7, 1);
success &= mpu6050_register_read(ACCEL_XOUT_H, buf+8, 1);
success &= mpu6050_register_read(ACCEL_XOUT_L, buf+9, 1);
success &= mpu6050_register_read(ACCEL_YOUT_H, buf+10, 1);
success &= mpu6050_register_read(ACCEL_YOUT_L, buf+11, 1);
success &= mpu6050_register_read(ACCEL_ZOUT_H, buf+12, 1);
success &= mpu6050_register_read(ACCEL_ZOUT_L, buf+13, 1);*/

if (!success)
{
    return NRF_ERROR_INTERNAL;
}

p_samples->AccSamples.X = ((buf[0] << 8) | buf[1]); p_samples->AccSamples.Y = ((buf[2] << 8) | buf[3]); p_samples->AccSamples.Z = ((buf[4] << 8) | buf[5]); p_samples->Temp = ((buf[6] << 8) | buf[7]); p_samples->GyroSamples.X = ((buf[8] << 8) | buf[9]); p_samples->GyroSamples.Y = ((buf[10] << 8) | buf[11]); p_samples->GyroSamples.Z = ((buf[12] << 8) | buf[13]);

return NRF_SUCCESS;

}

/**@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 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 the Advertising functionality initialization. *

@details Encodes the required advertising data and passes it to the stack.

     Also builds a structure to be passed to the stack when starting the advertising.

*/ static void advertising_init(void) { uint32_t err_code; ble_advdata_t advdata; ble_advdata_t scanrsp; uint8_t flags = BLE_GAP_ADV_FLAGS_LE_ONLY_LIMITED_DISC_MODE;

ble_uuid_t adv_uuids[] = {{BLE_UUID_NUS_SERVICE, m_nus.uuid_type}};

memset(&advdata, 0, sizeof(advdata));
advdata.name_type               = BLE_ADVDATA_FULL_NAME;
advdata.include_appearance      = false;
advdata.flags                   = flags;

memset(&scanrsp, 0, sizeof(scanrsp));
scanrsp.uuids_complete.uuid_cnt = sizeof(adv_uuids) / sizeof(adv_uuids[0]);
scanrsp.uuids_complete.p_uuids  = adv_uuids;

err_code = ble_advdata_set(&advdata, &scanrsp);
APP_ERROR_CHECK(err_code);

}

/**@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_nus Nordic UART Service structure.
@param[in] p_data Data to be send to UART module.
@param[in] length Length of the data. */ /**@snippet [Handling the data received over BLE] */ static void nus_data_handler(ble_nus_t * p_nus, uint8_t * p_data, uint16_t length) { uint32_t err_code; static uint8_t data_array[BLE_NUS_MAX_DATA_LEN]; t_struct_Motion_Sensor samples;

err_code = drv_gyro_read(&samples);

sprintf((char*)data_array, "%d %d %d %d %d %d", samples.GyroSamples.X, samples.GyroSamples.Y, samples.GyroSamples.Z, samples.AccSamples.X, samples.AccSamples.Y, samples.AccSamples.Z);

err_code = ble_nus_string_send(&m_nus, data_array, strlen((char*)data_array));

/strcpy((char)data_array, "IE Love");

err_code = ble_nus_string_send(&m_nus, data_array, strlen((char*)data_array));*/ if (err_code != NRF_ERROR_INVALID_STATE) { APP_ERROR_CHECK(err_code); }

for (uint32_t i = 0; i < length; i++) { while (app_uart_put(p_data[i]) != NRF_SUCCESS); } while (app_uart_put('\n') != NRF_SUCCESS); } /**@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;

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 initializing security parameters. */ static void sec_params_init(void) { m_sec_params.bond = SEC_PARAM_BOND; m_sec_params.mitm = SEC_PARAM_MITM; m_sec_params.io_caps = SEC_PARAM_IO_CAPABILITIES; m_sec_params.oob = SEC_PARAM_OOB;
m_sec_params.min_key_size = SEC_PARAM_MIN_KEY_SIZE; m_sec_params.max_key_size = SEC_PARAM_MAX_KEY_SIZE; }

/**@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 starting advertising. */ static void advertising_start(void) { uint32_t err_code; ble_gap_adv_params_t adv_params;

// Start advertising.
memset(&adv_params, 0, sizeof(adv_params));

adv_params.type        = BLE_GAP_ADV_TYPE_ADV_IND;
adv_params.p_peer_addr = NULL;
adv_params.fp          = BLE_GAP_ADV_FP_ANY;
adv_params.interval    = APP_ADV_INTERVAL;
adv_params.timeout     = APP_ADV_TIMEOUT_IN_SECONDS;

err_code = sd_ble_gap_adv_start(&adv_params);
APP_ERROR_CHECK(err_code);

err_code = bsp_indication_set(BSP_INDICATE_ADVERTISING);
APP_ERROR_CHECK(err_code);

}

/**@brief Function for starting application timers. */ static void application_timers_start(void) { uint32_t err_code;

// Start application timers.
err_code = app_timer_start(m_motion_sensor_timer_id, MOTION_SENSOR_INTERVAL, NULL);
APP_ERROR_CHECK(err_code);

}

/**@brief Function for stop application timers. */ static void application_timers_stop(void) { uint32_t err_code;

// Start application timers.
err_code = app_timer_stop(m_motion_sensor_timer_id);
APP_ERROR_CHECK(err_code);

}

/**@brief Function for the Application's S110 SoftDevice event handler. *

@param[in] p_ble_evt S110 SoftDevice event. */ static void on_ble_evt(ble_evt_t * p_ble_evt) { uint32_t err_code; static ble_gap_sec_keyset_t s_sec_keyset; ble_gap_enc_info_t * p_enc_info;

switch (p_ble_evt->header.evt_id) { case BLE_GAP_EVT_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; //application_timers_start(); break;

 case BLE_GAP_EVT_DISCONNECTED:
     err_code = bsp_indication_set(BSP_INDICATE_IDLE);
     APP_ERROR_CHECK(err_code);
     m_conn_handle = BLE_CONN_HANDLE_INVALID;
 				//application_timers_stop();
     advertising_start();
     break;
     
 case BLE_GAP_EVT_SEC_PARAMS_REQUEST:
     s_sec_keyset.keys_periph.p_enc_key = NULL;
     err_code = sd_ble_gap_sec_params_reply(m_conn_handle, 
                                            BLE_GAP_SEC_STATUS_SUCCESS, 
                                            &m_sec_params,
                                            &s_sec_keyset);
     APP_ERROR_CHECK(err_code);
     break;
     
 case BLE_GATTS_EVT_SYS_ATTR_MISSING:
     err_code = sd_ble_gatts_sys_attr_set(m_conn_handle, NULL, 0, 0);
     APP_ERROR_CHECK(err_code);
     break;

 case BLE_GAP_EVT_AUTH_STATUS:
     // TODO: Adoptation to s110v8.0.0, is this needed anymore ?
     break;
     
 case BLE_GAP_EVT_SEC_INFO_REQUEST:
     if (s_sec_keyset.keys_periph.p_enc_key != NULL)
     {
         p_enc_info = &s_sec_keyset.keys_periph.p_enc_key->enc_info;
         err_code = sd_ble_gap_sec_info_reply(m_conn_handle, p_enc_info, NULL, NULL);
         APP_ERROR_CHECK(err_code);
     }
     else
     {
         // No keys found for this device.
         err_code = sd_ble_gap_sec_info_reply(m_conn_handle, NULL, NULL, NULL);
         APP_ERROR_CHECK(err_code);
     }
     break;

 case BLE_GAP_EVT_TIMEOUT:
     if (p_ble_evt->evt.gap_evt.params.timeout.src == BLE_GAP_TIMEOUT_SRC_ADVERTISING)
     { 
         err_code = bsp_indication_set(BSP_INDICATE_IDLE);
         APP_ERROR_CHECK(err_code);
         // Configure buttons with sense level low as wakeup source.
         err_code = bsp_buttons_enable(1 << WAKEUP_BUTTON_ID);
         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);
     }
     break;

 default:
     // No implementation needed.
     break;

} }

/**@brief Function for dispatching a S110 SoftDevice event to all modules with a S110 SoftDevice

```
   event handler.
```
@details This function is called from the S110 SoftDevice event interrupt handler after a S110

     SoftDevice event has been received.

@param[in] p_ble_evt S110 SoftDevice event. */ static void ble_evt_dispatch(ble_evt_t * p_ble_evt) { ble_conn_params_on_ble_evt(p_ble_evt); ble_nus_on_ble_evt(&m_nus, p_ble_evt); on_ble_evt(p_ble_evt); }

/**@brief Function for the S110 SoftDevice initialization. *

@details This function initializes the S110 SoftDevice and the BLE event interrupt. */ static void ble_stack_init(void) { uint32_t err_code;

// Initialize SoftDevice. SOFTDEVICE_HANDLER_INIT(NRF_CLOCK_LFCLKSRC_XTAL_20_PPM, NULL);

// Enable BLE stack. ble_enable_params_t ble_enable_params; memset(&ble_enable_params, 0, sizeof(ble_enable_params)); ble_enable_params.gatts_enable_params.service_changed = IS_SRVC_CHANGED_CHARACT_PRESENT; err_code = sd_ble_enable(&ble_enable_params); APP_ERROR_CHECK(err_code);

// Subscribe for BLE events. err_code = softdevice_ble_evt_handler_set(ble_evt_dispatch); APP_ERROR_CHECK(err_code); }

/**@brief Function for placing the application in low power state while waiting for events. */ static void power_manage(void) { uint32_t err_code = sd_app_evt_wait(); APP_ERROR_CHECK(err_code); }

/**@brief Function for handling the Heart rate measurement timer timeout. *

@details This function will be called each time the heart rate measurement timer expires.

     It will exclude RR Interval data from every third measurement.

@param[in] p_context Pointer used for passing some arbitrary information (context) from the

                  app_start_timer() call to the timeout handler.

*/ static void motion_sensor_handler(void * p_context) { // Get Value of Motion Sensor. static uint8_t data_array[BLE_NUS_MAX_DATA_LEN]; uint32_t err_code; t_struct_Motion_Sensor samples;

UNUSED_PARAMETER(p_context);
	
	//strcpy((char*)data_array, "IE Love");


	err_code =  drv_gyro_read(&samples);


	sprintf((char*)data_array, "%d %d %d %d %d %d", samples.GyroSamples.X, samples.GyroSamples.Y, samples.GyroSamples.Z, samples.AccSamples.X, samples.AccSamples.Y, samples.AccSamples.Z);
	
	err_code = ble_nus_string_send(&m_nus, data_array, strlen((char*)data_array));
	if (err_code != NRF_ERROR_INVALID_STATE)
	{
			APP_ERROR_CHECK(err_code);
	}

}

/**@brief Function for the Timer initialization. *

@details Initializes the timer module. This creates and starts application timers. */ static void timers_init(void) { uint32_t err_code;

// Initialize timer module. APP_TIMER_INIT(APP_TIMER_PRESCALER, APP_TIMER_MAX_TIMERS, APP_TIMER_OP_QUEUE_SIZE, false);

// Create timers. err_code = app_timer_create(&m_motion_sensor_timer_id, APP_TIMER_MODE_REPEATED, motion_sensor_handler); APP_ERROR_CHECK(err_code); }

/**@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' i.e '\n' (hex 0x0D) or if the string has reached a length of

```
     @ref NUS_MAX_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') || (index >= (BLE_NUS_MAX_DATA_LEN)))
        {
            err_code = ble_nus_string_send(&m_nus, data_array, index);
            if (err_code != NRF_ERROR_INVALID_STATE)
            {
                APP_ERROR_CHECK(err_code);
            }
            
            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; const app_uart_comm_params_t comm_params = { RX_PIN_NUMBER, TX_PIN_NUMBER, RTS_PIN_NUMBER, CTS_PIN_NUMBER, APP_UART_FLOW_CONTROL_ENABLED, false, UART_BAUDRATE_BAUDRATE_Baud38400 };

APP_UART_FIFO_INIT( &comm_params,
                    UART_RX_BUF_SIZE,
                    UART_TX_BUF_SIZE,
                   uart_event_handle,
                    APP_IRQ_PRIORITY_LOW,
                    err_code);
APP_ERROR_CHECK(err_code);

} /**@snippet [UART Initialization] */

/**@brief Application main function. */ int main(void) { uint8_t start_string[] = START_STRING; uint32_t err_code;

// Initialize.
APP_TIMER_INIT(APP_TIMER_PRESCALER, APP_TIMER_MAX_TIMERS, APP_TIMER_OP_QUEUE_SIZE, false);
APP_GPIOTE_INIT(APP_GPIOTE_MAX_USERS);
ble_stack_init();

	// Init Timer.
	//timers_init();

uart_init();
err_code = bsp_init(BSP_INIT_LED | BSP_INIT_BUTTONS,
                    APP_TIMER_TICKS(100, APP_TIMER_PRESCALER),
                    NULL);
APP_ERROR_CHECK(err_code);
err_code = bsp_buttons_enable(1 << WAKEUP_BUTTON_ID);
APP_ERROR_CHECK(err_code);
gap_params_init();
services_init();
advertising_init();
conn_params_init();
sec_params_init();

	// For Gyroscope.
	twi_master_init();
	
	/*nrf_gpio_port_dir_set(NRF_GPIO_PORT_SELECT_PORT1, NRF_GPIO_PORT_DIR_OUTPUT); 
	
	if (!twi_master_init()) 
	{ 
		nrf_gpio_port_write(NRF_GPIO_PORT_SELECT_PORT1, 0x55); 
	} */
	
	mpu6050_init(MOTION_SENSOR_ADDRESS);
	
	
	/*uint32_t i =0;
	bool transfer_succeeded;
	
	for (i = 0; i < (sizeof(s_register_config) / sizeof(s_register_config[0])); ++i)
{
uint8_t read;


transfer_succeeded &= mpu6050_register_write(s_register_config[i][0], s_register_config[i][1]);
transfer_succeeded &= mpu6050_register_read(s_register_config[i][0], &read, sizeof(read));

transfer_succeeded &= (s_register_config[i][1] == read);
}*/
	
	if(!mpu6050_verify_product_id())
	{
		printf("Error Verify Product ID.\n");
	}
	
	mpu6050_register_write(0x6b, 0x00);
	mpu6050_register_write(0x6c, 0x00);

printf("%s",start_string);
	
	//application_timers_start();

advertising_start();

// Enter main loop.
for (;;)
{
    power_manage();
}

}

/**

@} */

MPU6050 Problem

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