TwiMaster is now based on the NRFX TWI driver, as it handles more edge cases and workarounds for errors on the bus.

Reset the TWI bus after the soft-reset of the motion sensor to workaround issues on the TWI bus.

Author: JF002

src/CMakeLists.txt

@@ -83,7 +83,7 @@ set(SDK_SOURCE_FILES
         "${NRF5_SDK_PATH}/external/fprintf/nrf_fprintf_format.c"
 
         # TWI
-        "${NRF5_SDK_PATH}/modules/nrfx/drivers/src/nrfx_twi.c"
+        "${NRF5_SDK_PATH}/modules/nrfx/drivers/src/nrfx_twim.c"
 
         # GPIOTE
         "${NRF5_SDK_PATH}/components/libraries/gpiote/app_gpiote.c"

src/drivers/Bma421.cpp

@@ -35,12 +35,9 @@ Bma421::Bma421(TwiMaster& twiMaster, uint8_t twiAddress) : twiMaster{twiMaster},
 }
 
 void Bma421::Init() {
-  auto ret = bma4_soft_reset(&bma);
-  if(ret != BMA4_OK) return;
+  if(not isResetOk) return; // Call SoftReset (and reset TWI device) first!
 
-  nrf_delay_ms(1);
-
-  ret = bma423_init(&bma);
+  auto ret = bma423_init(&bma);
   if(ret != BMA4_OK) return;
 
   ret = bma423_write_config_file(&bma);
@@ -109,3 +106,11 @@ bool Bma421::IsOk() const {
 void Bma421::ResetStepCounter() {
   bma423_reset_step_counter(&bma);
 }
+
+void Bma421::SoftReset() {
+  auto ret = bma4_soft_reset(&bma);
+  if(ret == BMA4_OK) {
+    isResetOk = true;
+    nrf_delay_ms(1);
+  }
+}

src/drivers/Bma421.h

@@ -18,6 +18,9 @@ namespace Pinetime {
       Bma421(Bma421&&) = delete;
       Bma421& operator=(Bma421&&) = delete;
 
+      /// The chip freezes the TWI bus after the softreset operation. Softreset is separated from the
+      /// Init() method to allow the caller to uninit and then reinit the TWI device after the softreset.
+      void SoftReset();
       void Init();
       Values Process();
       void ResetStepCounter();
@@ -34,6 +37,7 @@ namespace Pinetime {
       uint8_t deviceAddress = 0x18;
       struct bma4_dev bma;
       bool isOk = false;
+      bool isResetOk = false;
     };
   }
 }

src/drivers/TwiMaster.cpp

@@ -2,195 +2,77 @@
 #include <cstring>
 #include <hal/nrf_gpio.h>
 #include <nrfx_log.h>
-
+#include <nrfx_twim.h>
+#include <nrf_drv_twi.h>
 using namespace Pinetime::Drivers;
 
 // TODO use shortcut to automatically send STOP when receive LastTX, for example
 // TODO use DMA/IRQ
 
-TwiMaster::TwiMaster(const Modules module, const Parameters& params) : module{module}, params{params} {
-  mutex = xSemaphoreCreateBinary();
-}
-
-void TwiMaster::Init() {
-  NRF_GPIO->PIN_CNF[params.pinScl] = ((uint32_t)GPIO_PIN_CNF_DIR_Input      << GPIO_PIN_CNF_DIR_Pos)
-                                     | ((uint32_t)GPIO_PIN_CNF_INPUT_Connect    << GPIO_PIN_CNF_INPUT_Pos)
-                                     | ((uint32_t)GPIO_PIN_CNF_PULL_Pullup      << GPIO_PIN_CNF_PULL_Pos)
-                                     | ((uint32_t)GPIO_PIN_CNF_DRIVE_S0D1       << GPIO_PIN_CNF_DRIVE_Pos)
-                                     | ((uint32_t)GPIO_PIN_CNF_SENSE_Disabled   << GPIO_PIN_CNF_SENSE_Pos);
-
-  NRF_GPIO->PIN_CNF[params.pinSda] = ((uint32_t)GPIO_PIN_CNF_DIR_Input        << GPIO_PIN_CNF_DIR_Pos)
-                                     | ((uint32_t)GPIO_PIN_CNF_INPUT_Connect    << GPIO_PIN_CNF_INPUT_Pos)
-                                     | ((uint32_t)GPIO_PIN_CNF_PULL_Pullup      << GPIO_PIN_CNF_PULL_Pos)
-                                     | ((uint32_t)GPIO_PIN_CNF_DRIVE_S0D1       << GPIO_PIN_CNF_DRIVE_Pos)
-                                     | ((uint32_t)GPIO_PIN_CNF_SENSE_Disabled   << GPIO_PIN_CNF_SENSE_Pos);
-
+TwiMaster::TwiMaster(const Modules module, const Parameters& params) : module{module}, params{params}, mutex{xSemaphoreCreateBinary()} {
+  ASSERT(mutex != nullptr);
   switch(module) {
-    case Modules::TWIM1: twiBaseAddress = NRF_TWIM1; break;
+    case Modules::TWIM1:
     default:
-      return;
-  }
-
-  switch(static_cast<Frequencies>(params.frequency)) {
-    case Frequencies::Khz100 : twiBaseAddress->FREQUENCY = TWIM_FREQUENCY_FREQUENCY_K100; break;
-    case Frequencies::Khz250 : twiBaseAddress->FREQUENCY = TWIM_FREQUENCY_FREQUENCY_K250; break;
-    case Frequencies::Khz400 : twiBaseAddress->FREQUENCY = TWIM_FREQUENCY_FREQUENCY_K400; break;
+      twim = NRFX_TWIM_INSTANCE(1);
+      break;
   }
+}
 
-  twiBaseAddress->PSEL.SCL = params.pinScl;
-  twiBaseAddress->PSEL.SDA = params.pinSda;
-  twiBaseAddress->EVENTS_LASTRX = 0;
-  twiBaseAddress->EVENTS_STOPPED = 0;
-  twiBaseAddress->EVENTS_LASTTX = 0;
-  twiBaseAddress->EVENTS_ERROR = 0;
-  twiBaseAddress->EVENTS_RXSTARTED = 0;
-  twiBaseAddress->EVENTS_SUSPENDED = 0;
-  twiBaseAddress->EVENTS_TXSTARTED = 0;
-
-  twiBaseAddress->ENABLE = (TWIM_ENABLE_ENABLE_Enabled << TWIM_ENABLE_ENABLE_Pos);
-
-
-  /* // IRQ
-     NVIC_ClearPendingIRQ(_IRQn);
-     NVIC_SetPriority(_IRQn, 2);
-     NVIC_EnableIRQ(_IRQn);
-   */
+void TwiMaster::Init() {
+  nrfx_twim_config_t config;
+  config.frequency = static_cast<nrf_twim_frequency_t>(params.frequency);
+  config.hold_bus_uninit = false;
+  config.interrupt_priority = 0;
+  config.scl = params.pinScl;
+  config.sda = params.pinSda;
+  nrfx_twim_init(&twim,
+                 &config,
+                 nullptr,
+                 nullptr);
+  nrfx_twim_enable(&twim);
 
   xSemaphoreGive(mutex);
-
 }
 
 TwiMaster::ErrorCodes TwiMaster::Read(uint8_t deviceAddress, uint8_t registerAddress, uint8_t *data, size_t size) {
   xSemaphoreTake(mutex, portMAX_DELAY);
-  auto ret = ReadWithRetry(deviceAddress, registerAddress, data, size);
+  TwiMaster::ErrorCodes ret;
+
+  auto err = nrfx_twim_tx(&twim, deviceAddress, &registerAddress, 1, false);
+  if(err != 0) {
+    return TwiMaster::ErrorCodes::TransactionFailed;
+  }
+
+  err = nrfx_twim_rx(&twim, deviceAddress, data, size);
+  if(err != 0) {
+    return TwiMaster::ErrorCodes::TransactionFailed;
+  }
   xSemaphoreGive(mutex);
 
-  return ret;
+  return TwiMaster::ErrorCodes::NoError;
 }
 
 TwiMaster::ErrorCodes TwiMaster::Write(uint8_t deviceAddress, uint8_t registerAddress, const uint8_t *data, size_t size) {
   ASSERT(size <= maxDataSize);
   xSemaphoreTake(mutex, portMAX_DELAY);
-
-  auto ret = WriteWithRetry(deviceAddress, registerAddress, data, size);
-  xSemaphoreGive(mutex);
-  return ret;
-}
-
-/* Execute a read transaction (composed of a write and a read operation). If one of these opeartion fails,
- * it's retried once. If it fails again, an error is returned */
-TwiMaster::ErrorCodes TwiMaster::ReadWithRetry(uint8_t deviceAddress, uint8_t registerAddress, uint8_t *data, size_t size) {
   TwiMaster::ErrorCodes ret;
-  ret = Write(deviceAddress, &registerAddress, 1, false);
-  if(ret != ErrorCodes::NoError)
-    ret = Write(deviceAddress, &registerAddress, 1, false);
-
-  if(ret != ErrorCodes::NoError) return ret;
 
-  ret = Read(deviceAddress, data, size, true);
-  if(ret != ErrorCodes::NoError)
-    ret = Read(deviceAddress, data, size, true);
-
-  return ret;
-}
-
-/* Execute a write transaction. If it fails, it is retried once. If it fails again, an error is returned. */
-TwiMaster::ErrorCodes TwiMaster::WriteWithRetry(uint8_t deviceAddress, uint8_t registerAddress, const uint8_t *data, size_t size) {
   internalBuffer[0] = registerAddress;
   std::memcpy(internalBuffer+1, data, size);
-  auto ret = Write(deviceAddress, internalBuffer, size+1, true);
-  if(ret != ErrorCodes::NoError)
-    ret = Write(deviceAddress, internalBuffer, size+1, true);
-
-  return ret;
-}
-
-
-TwiMaster::ErrorCodes TwiMaster::Read(uint8_t deviceAddress, uint8_t *buffer, size_t size, bool stop) {
-  twiBaseAddress->ADDRESS = deviceAddress;
-  twiBaseAddress->TASKS_RESUME = 0x1UL;
-  twiBaseAddress->RXD.PTR = (uint32_t)buffer;
-  twiBaseAddress->RXD.MAXCNT = size;
-
-  twiBaseAddress->TASKS_STARTRX = 1;
-
-  while(!twiBaseAddress->EVENTS_RXSTARTED && !twiBaseAddress->EVENTS_ERROR);
-  twiBaseAddress->EVENTS_RXSTARTED = 0x0UL;
-
-  txStartedCycleCount = DWT->CYCCNT;
-  uint32_t currentCycleCount;
-  while(!twiBaseAddress->EVENTS_LASTRX && !twiBaseAddress->EVENTS_ERROR) {
-    currentCycleCount = DWT->CYCCNT;
-    if ((currentCycleCount-txStartedCycleCount) > HwFreezedDelay) {
-      FixHwFreezed();
-      return ErrorCodes::TransactionFailed;
-    }
-  }
-  twiBaseAddress->EVENTS_LASTRX = 0x0UL;
-
-  if (stop || twiBaseAddress->EVENTS_ERROR) {
-    twiBaseAddress->TASKS_STOP = 0x1UL;
-    while(!twiBaseAddress->EVENTS_STOPPED);
-    twiBaseAddress->EVENTS_STOPPED = 0x0UL;
-  }
-  else {
-    twiBaseAddress->TASKS_SUSPEND = 0x1UL;
-    while(!twiBaseAddress->EVENTS_SUSPENDED);
-    twiBaseAddress->EVENTS_SUSPENDED = 0x0UL;
+  auto err = nrfx_twim_tx(&twim, deviceAddress, internalBuffer , size+1, false);
+  if(err != 0){
+    return TwiMaster::ErrorCodes::TransactionFailed;
   }
 
-  if (twiBaseAddress->EVENTS_ERROR) {
-    twiBaseAddress->EVENTS_ERROR = 0x0UL;
-  }
-  return ErrorCodes::NoError;
-}
-
-TwiMaster::ErrorCodes TwiMaster::Write(uint8_t deviceAddress, const uint8_t *data, size_t size, bool stop) {
-  twiBaseAddress->ADDRESS = deviceAddress;
-  twiBaseAddress->TASKS_RESUME = 0x1UL;
-  twiBaseAddress->TXD.PTR = (uint32_t)data;
-  twiBaseAddress->TXD.MAXCNT = size;
-
-  twiBaseAddress->TASKS_STARTTX = 1;
-
-  while(!twiBaseAddress->EVENTS_TXSTARTED && !twiBaseAddress->EVENTS_ERROR);
-  twiBaseAddress->EVENTS_TXSTARTED = 0x0UL;
-
-  txStartedCycleCount = DWT->CYCCNT;
-  uint32_t currentCycleCount;
-  while(!twiBaseAddress->EVENTS_LASTTX && !twiBaseAddress->EVENTS_ERROR) {
-    currentCycleCount = DWT->CYCCNT;
-    if ((currentCycleCount-txStartedCycleCount) > HwFreezedDelay) {
-      FixHwFreezed();
-      return ErrorCodes::TransactionFailed;
-    }
-  }
-  twiBaseAddress->EVENTS_LASTTX = 0x0UL;
-
-  if (stop || twiBaseAddress->EVENTS_ERROR) {
-    twiBaseAddress->TASKS_STOP = 0x1UL;
-    while(!twiBaseAddress->EVENTS_STOPPED);
-    twiBaseAddress->EVENTS_STOPPED = 0x0UL;
-  }
-  else {
-    twiBaseAddress->TASKS_SUSPEND = 0x1UL;
-    while(!twiBaseAddress->EVENTS_SUSPENDED);
-    twiBaseAddress->EVENTS_SUSPENDED = 0x0UL;
-  }
-
-  if (twiBaseAddress->EVENTS_ERROR) {
-    twiBaseAddress->EVENTS_ERROR = 0x0UL;
-    uint32_t error = twiBaseAddress->ERRORSRC;
-    twiBaseAddress->ERRORSRC = error;
-  }
-
-  return ErrorCodes::NoError;
+  xSemaphoreGive(mutex);
+  return TwiMaster::ErrorCodes::NoError;
 }
 
 void TwiMaster::Sleep() {
-  while(twiBaseAddress->ENABLE != 0) {
-    twiBaseAddress->ENABLE = (TWIM_ENABLE_ENABLE_Disabled << TWIM_ENABLE_ENABLE_Pos);
-  }
+  nrfx_twim_disable(&twim);
+  nrfx_twim_uninit(&twim);
+
   nrf_gpio_cfg_default(6);
   nrf_gpio_cfg_default(7);
   NRF_LOG_INFO("[TWIMASTER] Sleep");
@@ -200,30 +82,3 @@ void TwiMaster::Wakeup() {
   Init();
   NRF_LOG_INFO("[TWIMASTER] Wakeup");
 }
-
-/* Sometimes, the TWIM device just freeze and never set the event EVENTS_LASTTX.
- * This method disable and re-enable the peripheral so that it works again.
- * This is just a workaround, and it would be better if we could find a way to prevent
- * this issue from happening.
- * */
-void TwiMaster::FixHwFreezed() {
-  NRF_LOG_INFO("I2C device frozen, reinitializing it!");
-  // Disable I²C
-  uint32_t twi_state = NRF_TWI1->ENABLE;
-  twiBaseAddress->ENABLE = TWIM_ENABLE_ENABLE_Disabled << TWI_ENABLE_ENABLE_Pos;
-
-  NRF_GPIO->PIN_CNF[params.pinScl] = ((uint32_t)GPIO_PIN_CNF_DIR_Input      << GPIO_PIN_CNF_DIR_Pos)
-                         | ((uint32_t)GPIO_PIN_CNF_INPUT_Connect    << GPIO_PIN_CNF_INPUT_Pos)
-                         | ((uint32_t)GPIO_PIN_CNF_PULL_Pullup      << GPIO_PIN_CNF_PULL_Pos)
-                         | ((uint32_t)GPIO_PIN_CNF_DRIVE_S0S1       << GPIO_PIN_CNF_DRIVE_Pos)
-                         | ((uint32_t)GPIO_PIN_CNF_SENSE_Disabled   << GPIO_PIN_CNF_SENSE_Pos);
-
-  NRF_GPIO->PIN_CNF[params.pinSda] = ((uint32_t)GPIO_PIN_CNF_DIR_Input        << GPIO_PIN_CNF_DIR_Pos)
-                         | ((uint32_t)GPIO_PIN_CNF_INPUT_Connect    << GPIO_PIN_CNF_INPUT_Pos)
-                         | ((uint32_t)GPIO_PIN_CNF_PULL_Pullup      << GPIO_PIN_CNF_PULL_Pos)
-                         | ((uint32_t)GPIO_PIN_CNF_DRIVE_S0S1       << GPIO_PIN_CNF_DRIVE_Pos)
-                         | ((uint32_t)GPIO_PIN_CNF_SENSE_Disabled   << GPIO_PIN_CNF_SENSE_Pos);
-
-  // Re-enable I²C
-  twiBaseAddress->ENABLE = twi_state;
-}

src/drivers/TwiMaster.h

@@ -3,13 +3,13 @@
 #include <semphr.h>
 #include <drivers/include/nrfx_twi.h> // NRF_TWIM_Type
 #include <cstdint>
+#include <nrfx_twim.h>
 
 namespace Pinetime {
   namespace Drivers {
     class TwiMaster {
       public:
         enum class Modules { TWIM1 };
-        enum class Frequencies {Khz100, Khz250, Khz400};
         enum class ErrorCodes {NoError, TransactionFailed};
         struct Parameters {
           uint32_t frequency;
@@ -27,21 +27,13 @@ namespace Pinetime {
         void Wakeup();
 
       private:
-        ErrorCodes ReadWithRetry(uint8_t deviceAddress, uint8_t registerAddress, uint8_t* buffer, size_t size);
-        ErrorCodes WriteWithRetry(uint8_t deviceAddress, uint8_t registerAddress, const uint8_t* data, size_t size);
-
-        ErrorCodes Read(uint8_t deviceAddress, uint8_t* buffer, size_t size, bool stop);
-        ErrorCodes Write(uint8_t deviceAddress, const uint8_t* data, size_t size, bool stop);
-        void FixHwFreezed();
-        NRF_TWIM_Type* twiBaseAddress;
-        SemaphoreHandle_t mutex;
+        nrfx_twim_t twim;
         const Modules module;
         const Parameters params;
+        SemaphoreHandle_t mutex;
         static constexpr uint8_t maxDataSize{8};
         static constexpr uint8_t registerSize{1};
         uint8_t internalBuffer[maxDataSize + registerSize];
-        uint32_t txStartedCycleCount = 0;
-        static constexpr uint32_t HwFreezedDelay{161000};
     };
   }
 }

src/sdk_config.h

@@ -4992,7 +4992,7 @@
 // <e> NRFX_TWIM_ENABLED - nrfx_twim - TWIM peripheral driver
 //==========================================================
 #ifndef NRFX_TWIM_ENABLED
-#define NRFX_TWIM_ENABLED 0
+#define NRFX_TWIM_ENABLED 1
 #endif
 // <q> NRFX_TWIM0_ENABLED  - Enable TWIM0 instance
 
@@ -5005,7 +5005,7 @@
 
 
 #ifndef NRFX_TWIM1_ENABLED
-#define NRFX_TWIM1_ENABLED 0
+#define NRFX_TWIM1_ENABLED 1
 #endif
 
 // <o> NRFX_TWIM_DEFAULT_CONFIG_FREQUENCY  - Frequency

src/systemtask/SystemTask.cpp

@@ -84,10 +84,14 @@ void SystemTask::Work() {
   touchPanel.Init();
   batteryController.Init();
   motorController.Init();
-  motionSensor.Init();
+  motionSensor.SoftReset();
 
-  settingsController.Init();
+  // Reset the TWI device because the motion sensor chip most probably crashed it...
+  twiMaster.Sleep();
+  twiMaster.Init();
 
+  motionSensor.Init();
+  settingsController.Init();
 
   displayApp =  std::make_unique<Pinetime::Applications::DisplayApp>(lcd, lvgl, touchPanel, batteryController, bleController,
                                                           dateTimeController, watchdogView, *this, notificationManager,