I conducted a read and write communication test with my peripheral IIC device using amb82, and everything was normal. The loop function ran normally without getting stuck, and the read and write data was also correct. I think the next step to this problem should be to solve the serial port error of the reading function in the routine, which seems to meet the usage requirements.After all, serial port errors only occur when reading exists separately. When both reading and writing exist, the serial port is normal and will not report errors