How to use I2C sensors with Xiaozhi on Huangshan Pi? I registered and tried to use the built-in lsm6dsl sensor in Xiaozhi, referring to the sensor example project under the SDK. After running it on Xiaozhi, I encountered the following error. How should I modify the code to make it work properly?
[21693] I/sensor motor: rt_sensor init success
[21700] I/sensor motor: rt_sensor init success
[21706] I/sensor motor: rt_sensor init success
[21713] E/drv.i2c motor: bus err:1, xfer:0/2, i2c_stat:20, i2c_errcode=21
[21724] E/drv.i2c motor: reset and send 9 clks
[21731] E/sensor.st.lsm6dsl motor: read id failed
[21737] E/sensor.st.lsm6dsl motor: _lsm6dsl init err code: -1
xiaozhi_ui_task start
sp: 0x60201c90
psr: 0x81000000
r00: 0xf0207084
r01: 0x1237b292
r02: 0x1237b29a
r03: 0xf0207083
r04: 0x20016be4
r05: 0xf0207090
r06: 0xf0207084
r07: 0x1237b292
r08: 0xdeadbeef
r09: 0xdeadbeef
r10: 0xdeadbeef
r11: 0xdeadbeef
r12: 0x00000000
lr: 0x122b00ff
pc: 0x122b2044
hard fault on thread: xz_ui
=====================
PSP: 0x60201bfc, MSP: 0x20001fc4
===================
Thread Info
===================
thread pri status sp top stack size max used left tick error
-------- --- ------- ---------- ---------- ---------- ------ ---------- ---
motor 20 suspend 0x60202ee8 0x60202ffc 0x00001000 23% 0x00000006 000
battery 20 suspend 0x602006b8 0x602007fc 0x00000800 16% 0x0000000a 000
mbox 11 suspend 0x2005c438 0x2005c538 0x00001000 22% 0x00000008 000
xz_ui 30 ready 0x60201fb8 0x60201ffc 0x00001800 23% 0x00000009 000
xiaozhi 18 suspend 0x6030aec0 0x6030affc 0x00008000 02% 0x00000007 000
lcd_task 12 suspend 0x20014670 0x200147d4 0x00000800 43% 0x00000008 000
tshell 20 suspend 0x20041638 0x200417b4 0x00001000 16% 0x00000009 000
bt_downv 11 suspend 0x2001b288 0x2001b3a4 0x000007d0 37% 0x0000000a 000
audiosvr 11 suspend 0x2001d648 0x2001d7a4 0x00002400 77% 0x0000000a 000
alarmsvc 12 suspend 0x2003daf0 0x2003dc08 0x00000400 27% 0x00000005 000
tcpip 10 suspend 0x2003d638 0x2003d754 0x00001000 07% 0x00000014 000
etx 12 suspend 0x20036eb8 0x20036fc0 0x00000400 26% 0x00000010 000
erx 12 suspend 0x200369e0 0x20036aec 0x00000400 26% 0x00000010 000
tidle 31 ready 0x2002c9d0 0x2002caac 0x00000800 34% 0x0000000e 000
timer 4 suspend 0x200152d0 0x200153d4 0x00000800 12% 0x00000009 000
main 10 suspend 0x2003c498 0x2003c5c0 0x00001000 28% 0x00000008 000
===================
Mailbox Info
===================
mailbox entry size suspend thread
-------- ---- ---- --------------
ui_mb 0000 0008 0
bt_app 0000 0008 1:main
battery_ 0000 0001 0
btn_evt 0000 0008 0
mbox0 0000 0008 1:tcpip
etxmb 0000 0008 1:etx
erxmb 0000 0008 1:erx
===================
MessageQueue Info
===================
msgqueue entry suspend thread
-------- ---- --------------
ui_msg 0000 0
drv_lcd 0000 1:lcd_task�
===================
Mutex Info
===================
mutex owner hold suspend thread
-------- -------- ---- --------------
ble_flas (NULL) 0000 0
audio_sv (NULL) 0000 0
rtc (NULL) 0000 0
alarmsvc (NULL) 0000 0
ulog loc (NULL) 0000 0
mu0 (NULL) 0000 0
fslock (NULL) 0000 0
i2c_bus_ (NULL) 0000 0
i2c_bus_ (NULL) 0000 0
i2c_bus_ (NULL) 0000 0
i2c_bus_ (NULL) 0000 0
===================
Semaphore Info
===================
semaphore v suspend thread
-------- --- --------------
update_u 001 0
mbox 000 0
sifli 000 0
btn 001 0
lcd_msg 000 0
lcd_draw 000 0
drv_lcd 001 0
shrx 000 0
epic 001 0
ft6146 000 0
opus_mem 001 0
aes_drv 001 0
drv_eDma 001 0
gpadc 001 0
i2c4 000 0
i2c3 000 0
i2c2 000 0
i2c1 000 0
heap 001 0
flash2 001 0
===================
Memory Info
===================
total memory: 280884 used memory : 136284 maximum allocated memory: 138784
===================
MemoryHeap Info
===================
memheap pool size max used size available size
-------- ---------- ------------- --------------
opus_mem 1048576 79840 968736
FPU active!
mem manage fault:
SCB_CFSR_MFSR:0x82 DACCVIOL SCB->MMAR:F0207084
