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-rw-r--r--src/CMakeLists.txt2
-rw-r--r--src/drivers/Bma421.cpp15
-rw-r--r--src/drivers/Bma421.h4
-rw-r--r--src/drivers/TwiMaster.cpp225
-rw-r--r--src/drivers/TwiMaster.h14
-rw-r--r--src/sdk_config.h4
-rw-r--r--src/systemtask/SystemTask.cpp8
7 files changed, 66 insertions, 206 deletions
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 89b1bc5a..3e199442 100644
--- a/src/CMakeLists.txt
+++ b/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"
diff --git a/src/drivers/Bma421.cpp b/src/drivers/Bma421.cpp
index 10d3e5e8..ea705d8e 100644
--- a/src/drivers/Bma421.cpp
+++ b/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);
+ }
+}
diff --git a/src/drivers/Bma421.h b/src/drivers/Bma421.h
index d36d1db5..da021cbf 100644
--- a/src/drivers/Bma421.h
+++ b/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;
};
}
} \ No newline at end of file
diff --git a/src/drivers/TwiMaster.cpp b/src/drivers/TwiMaster.cpp
index 6a063ecf..646823d0 100644
--- a/src/drivers/TwiMaster.cpp
+++ b/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;
-}
diff --git a/src/drivers/TwiMaster.h b/src/drivers/TwiMaster.h
index 399e3d0f..6e3ff721 100644
--- a/src/drivers/TwiMaster.h
+++ b/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};
};
}
} \ No newline at end of file
diff --git a/src/sdk_config.h b/src/sdk_config.h
index aa1bbb3a..bc97ef14 100644
--- a/src/sdk_config.h
+++ b/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
diff --git a/src/systemtask/SystemTask.cpp b/src/systemtask/SystemTask.cpp
index 4605ba95..6163c105 100644
--- a/src/systemtask/SystemTask.cpp
+++ b/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,
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-21 00:23:29 +0000