0.16.0 TWI problems fix

More memory for freertos heap and timer stack
Fix warning in watchface
Fix number of bytes read by cst816
Debug app to show freertos tasks
Increased the number of bytes of the twi write buffer

5 files changed, 174 insertions, 50 deletions

diff --git a/src/drivers/Bma421.cpp b/src/drivers/Bma421.cpp
index ea705d8..d7a59cf 100644
--- a/src/drivers/Bma421.cpp
+++ b/src/drivers/Bma421.cpp
@@ -31,7 +31,7 @@ Bma421::Bma421(TwiMaster& twiMaster, uint8_t twiAddress) : twiMaster{twiMaster},
   bma.variant = BMA42X_VARIANT;
   bma.intf_ptr = this;
   bma.delay_us = user_delay;
-  bma.read_write_len = 8;
+  bma.read_write_len = 16;
 }
 
 void Bma421::Init() {
diff --git a/src/drivers/Cst816s.cpp b/src/drivers/Cst816s.cpp
index 03da76c..e3a37b1 100644
--- a/src/drivers/Cst816s.cpp
+++ b/src/drivers/Cst816s.cpp
@@ -31,7 +31,8 @@ void Cst816S::Init() {
   twiMaster.Read(twiAddress, 0x15, &dummy, 1);
   vTaskDelay(5);
   twiMaster.Read(twiAddress, 0xa7, &dummy, 1);
-
+  vTaskDelay(5);
+  
   /*
   [2] EnConLR - Continuous operation can slide around
   [1] EnConUD - Slide up and down to enable continuous operation
diff --git a/src/drivers/Cst816s.h b/src/drivers/Cst816s.h
index b7876b8..6300786 100644
--- a/src/drivers/Cst816s.h
+++ b/src/drivers/Cst816s.h
@@ -53,7 +53,7 @@ namespace Pinetime {
         static constexpr uint8_t touchStep = 6;
         static constexpr uint8_t gestureIndex = 1;
 
-        uint8_t touchData[63];
+        uint8_t touchData[10];
         TwiMaster& twiMaster;
         uint8_t twiAddress;
     };
diff --git a/src/drivers/TwiMaster.cpp b/src/drivers/TwiMaster.cpp
index 646823d..271b714 100644
--- a/src/drivers/TwiMaster.cpp
+++ b/src/drivers/TwiMaster.cpp
@@ -2,77 +2,167 @@
 #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()} {
-  ASSERT(mutex != nullptr);
+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);
+
   switch(module) {
-    case Modules::TWIM1:
+    case Modules::TWIM1: twiBaseAddress = NRF_TWIM1; break;
     default:
-      twim = NRFX_TWIM_INSTANCE(1);
-      break;
+      return;
   }
-}
 
-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);
+  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;
+  }
+
+  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);
+   */
 
   xSemaphoreGive(mutex);
+
 }
 
 TwiMaster::ErrorCodes TwiMaster::Read(uint8_t deviceAddress, uint8_t registerAddress, uint8_t *data, size_t size) {
   xSemaphoreTake(mutex, portMAX_DELAY);
-  TwiMaster::ErrorCodes ret;
+  auto ret = Write(deviceAddress, &registerAddress, 1, false);
+  ret = Read(deviceAddress, data, size, true);
+  xSemaphoreGive(mutex);
+  return ret;
+}
+
+TwiMaster::ErrorCodes TwiMaster::Write(uint8_t deviceAddress, uint8_t registerAddress, const uint8_t *data, size_t size) {
+  ASSERT(size <= maxDataSize);
+  xSemaphoreTake(mutex, portMAX_DELAY);
+  internalBuffer[0] = registerAddress;
+  std::memcpy(internalBuffer + 1, data, size);
+  auto ret = Write(deviceAddress, internalBuffer, size + 1, true);
+  xSemaphoreGive(mutex);
+  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;
 
-  auto err = nrfx_twim_tx(&twim, deviceAddress, &registerAddress, 1, false);
-  if(err != 0) {
-    return TwiMaster::ErrorCodes::TransactionFailed;
+  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;
 
-  err = nrfx_twim_rx(&twim, deviceAddress, data, size);
-  if(err != 0) {
-    return TwiMaster::ErrorCodes::TransactionFailed;
+  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;
   }
-  xSemaphoreGive(mutex);
 
-  return TwiMaster::ErrorCodes::NoError;
+  if (twiBaseAddress->EVENTS_ERROR) {
+    twiBaseAddress->EVENTS_ERROR = 0x0UL;
+  }
+  return 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);
-  TwiMaster::ErrorCodes ret;
+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;
 
-  internalBuffer[0] = registerAddress;
-  std::memcpy(internalBuffer+1, data, size);
-  auto err = nrfx_twim_tx(&twim, deviceAddress, internalBuffer , size+1, false);
-  if(err != 0){
-    return TwiMaster::ErrorCodes::TransactionFailed;
+  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;
 
-  xSemaphoreGive(mutex);
-  return TwiMaster::ErrorCodes::NoError;
+  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;
 }
 
 void TwiMaster::Sleep() {
-  nrfx_twim_disable(&twim);
-  nrfx_twim_uninit(&twim);
-
+  while(twiBaseAddress->ENABLE != 0) {
+    twiBaseAddress->ENABLE = (TWIM_ENABLE_ENABLE_Disabled << TWIM_ENABLE_ENABLE_Pos);
+  }
   nrf_gpio_cfg_default(6);
   nrf_gpio_cfg_default(7);
   NRF_LOG_INFO("[TWIMASTER] Sleep");
@@ -82,3 +172,30 @@ 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;
+}
\ No newline at end of file
diff --git a/src/drivers/TwiMaster.h b/src/drivers/TwiMaster.h
index 6e3ff72..f3c87b0 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;
@@ -27,13 +27,19 @@ namespace Pinetime {
         void Wakeup();
 
       private:
-        nrfx_twim_t twim;
+
+        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;
         const Modules module;
         const Parameters params;
-        SemaphoreHandle_t mutex;
-        static constexpr uint8_t maxDataSize{8};
+        static constexpr uint8_t maxDataSize{16};
         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