Merge branch 'motion-sensor' into develop

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.10)
-project(pinetime VERSION 0.15.0 LANGUAGES C CXX ASM)
+project(pinetime VERSION 0.16.0 LANGUAGES C CXX ASM)
 
 set(CMAKE_C_STANDARD 99)
 set(CMAKE_CXX_STANDARD 14)

README.md

@@ -34,6 +34,9 @@ As of now, here is the list of achievements of this project:
  - Rich user interface via display, touchscreen and pushbutton
  - Time synchronization via BLE
  - Notification via BLE
+ - Heart rate measurements
+ - Step counting
+ - Wake-up on wrist rotation
  - Multiple 'apps' : 
     * Clock (displays the date, time, battery level, ble connection status, heart rate)
     * System info (displays various info : BLE MAC, build date/time, uptime, version,...)

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"
@@ -396,11 +396,13 @@ list(APPEND SOURCE_FILES
         displayapp/screens/FirmwareUpdate.cpp
         displayapp/screens/Music.cpp
         displayapp/screens/Navigation.cpp
+        displayapp/screens/Motion.cpp
         displayapp/screens/FirmwareValidation.cpp
         displayapp/screens/ApplicationList.cpp
         displayapp/screens/Notifications.cpp
         displayapp/screens/Twos.cpp
         displayapp/screens/HeartRate.cpp
+        displayapp/screens/Motion.cpp
         displayapp/screens/FlashLight.cpp
         displayapp/screens/List.cpp
         displayapp/screens/BatteryInfo.cpp
@@ -429,11 +431,15 @@ list(APPEND SOURCE_FILES
         drivers/DebugPins.cpp
         drivers/InternalFlash.cpp
         drivers/Hrs3300.cpp
+        drivers/Bma421.cpp
+        drivers/Bma421_C/bma4.c
+        drivers/Bma421_C/bma423.c
         components/battery/BatteryController.cpp
         components/ble/BleController.cpp
         components/ble/NotificationManager.cpp
         components/datetime/DateTimeController.cpp
         components/brightness/BrightnessController.cpp
+        components/motion/MotionController.cpp
         components/ble/NimbleController.cpp
         components/ble/DeviceInformationService.cpp
         components/ble/CurrentTimeClient.cpp
@@ -487,11 +493,15 @@ list(APPEND RECOVERY_SOURCE_FILES
         drivers/DebugPins.cpp
         drivers/InternalFlash.cpp
         drivers/Hrs3300.cpp
+        drivers/Bma421.cpp
+        drivers/Bma421_C/bma4.c
+        drivers/Bma421_C/bma423.c
         components/battery/BatteryController.cpp
         components/ble/BleController.cpp
         components/ble/NotificationManager.cpp
         components/datetime/DateTimeController.cpp
         components/brightness/BrightnessController.cpp
+        components/motion/MotionController.cpp
         components/ble/NimbleController.cpp
         components/ble/DeviceInformationService.cpp
         components/ble/CurrentTimeClient.cpp
@@ -576,6 +586,7 @@ set(INCLUDE_FILES
         displayapp/Apps.h
         displayapp/screens/Notifications.h
         displayapp/screens/HeartRate.h
+        displayapp/screens/Motion.h
         drivers/St7789.h
         drivers/SpiNorFlash.h
         drivers/SpiMaster.h
@@ -584,11 +595,15 @@ set(INCLUDE_FILES
         drivers/DebugPins.h
         drivers/InternalFlash.h
         drivers/Hrs3300.h
+        drivers/Bma421.h
+        drivers/Bma421_C/bma4.c
+        drivers/Bma421_C/bma423.c
         components/battery/BatteryController.h
         components/ble/BleController.h
         components/ble/NotificationManager.h
         components/datetime/DateTimeController.h
         components/brightness/BrightnessController.h
+        components/motion/MotionController.h
         components/ble/NimbleController.h
         components/ble/DeviceInformationService.h
         components/ble/CurrentTimeClient.h

src/components/datetime/DateTimeController.cpp

@@ -1,9 +1,14 @@
 #include "DateTimeController.h"
 #include <date/date.h>
 #include <libraries/log/nrf_log.h>
+#include <systemtask/SystemTask.h>
 
 using namespace Pinetime::Controllers;
 
+DateTime::DateTime(System::SystemTask& systemTask) : systemTask{systemTask} {
+
+}
+
 
 void DateTime::SetTime(uint16_t year, uint8_t month, uint8_t day, uint8_t dayOfWeek, uint8_t hour, uint8_t minute,
                        uint8_t second, uint32_t systickCounter) {
@@ -62,6 +67,14 @@ void DateTime::UpdateTime(uint32_t systickCounter) {
   hour = time.hours().count();
   minute = time.minutes().count();
   second = time.seconds().count();
+
+  // Notify new day to SystemTask
+  if(hour == 0 and not isMidnightAlreadyNotified) {
+    isMidnightAlreadyNotified = true;
+    systemTask.PushMessage(System::SystemTask::Messages::OnNewDay);
+  } else if (hour != 0) {
+    isMidnightAlreadyNotified = false;
+  }
 }
 
 const char *DateTime::MonthShortToString() {

src/components/datetime/DateTimeController.h

@@ -4,12 +4,17 @@
 #include <chrono>
 
 namespace Pinetime {
+  namespace System {
+    class SystemTask;
+  }
   namespace Controllers {
     class DateTime {
       public:
         enum class Days : uint8_t {Unknown, Monday, Tuesday, Wednesday, Thursday, Friday, Saturday, Sunday};
         enum class Months : uint8_t {Unknown, January, February, March, April, May, June, July, August, September, October, November, December};
 
+        DateTime(System::SystemTask& systemTask);
+
         void SetTime(uint16_t year, uint8_t month, uint8_t day, uint8_t dayOfWeek, uint8_t hour, uint8_t minute, uint8_t second, uint32_t systickCounter);
         void UpdateTime(uint32_t systickCounter);
         uint16_t Year() const { return year; }
@@ -31,6 +36,7 @@ namespace Pinetime {
         std::chrono::time_point<std::chrono::system_clock, std::chrono::nanoseconds> CurrentDateTime() const { return currentDateTime; }
         std::chrono::seconds Uptime() const { return uptime; }
       private:
+        System::SystemTask& systemTask;
         uint16_t year = 0;
         Months month = Months::Unknown;
         uint8_t day = 0;
@@ -43,6 +49,8 @@ namespace Pinetime {
         std::chrono::time_point<std::chrono::system_clock, std::chrono::nanoseconds> currentDateTime;
         std::chrono::seconds uptime {0};
 
+        bool isMidnightAlreadyNotified = false;
+
         static char const *DaysString[];
         static char const *DaysStringShort[];
         static char const *DaysStringLow[];

src/components/motion/MotionController.cpp

@@ -0,0 +1,36 @@
+#include "MotionController.h"
+
+using namespace Pinetime::Controllers;
+
+void MotionController::Update(int16_t x, int16_t y, int16_t z, uint32_t nbSteps) {
+  this->x = x;
+  this->y = y;
+  this->z = z;
+  this->nbSteps = nbSteps;
+}
+
+bool MotionController::ShouldWakeUp(bool isSleeping) {
+  if ((x + 335) <= 670 && z < 0) {
+    if (not isSleeping) {
+      if (y <= 0) {
+        return false;
+      } else {
+        lastYForWakeUp = 0;
+        return false;
+      }
+    }
+
+    if (y >= 0) {
+      lastYForWakeUp = 0;
+      return false;
+    }
+    if (y + 230 < lastYForWakeUp) {
+      lastYForWakeUp = y;
+      return true;
+    }
+  }
+  return false;
+}
+void MotionController::IsSensorOk(bool isOk) {
+  isSensorOk = isOk;
+}

src/components/motion/MotionController.h

@@ -0,0 +1,29 @@
+#pragma once
+
+#include <cstdint>
+
+namespace Pinetime {
+  namespace Controllers {
+    class MotionController {
+    public:
+      void Update(int16_t x, int16_t y, int16_t z, uint32_t nbSteps);
+
+      uint16_t X() const { return x; }
+      uint16_t Y() const { return y; }
+      uint16_t Z() const { return z; }
+      uint32_t NbSteps() const { return nbSteps; }
+      bool ShouldWakeUp(bool isSleeping);
+
+      void IsSensorOk(bool isOk);
+      bool IsSensorOk() const { return isSensorOk; }
+
+    private:
+      uint32_t nbSteps;
+      int16_t x;
+      int16_t y;
+      int16_t z;
+      int16_t lastYForWakeUp = 0;
+      bool isSensorOk = false;
+    };
+  }
+}

src/displayapp/Apps.h

@@ -4,7 +4,7 @@ namespace Pinetime {
   namespace Applications {
     enum class Apps {
       None, Launcher, Clock, SysInfo, FirmwareUpdate, FirmwareValidation, NotificationsPreview, Notifications, FlashLight, BatteryInfo,
-      Music, Paint, Paddle, Twos, HeartRate, Navigation, StopWatch,
+      Music, Paint, Paddle, Twos, HeartRate, Navigation, StopWatch, Motion,
       QuickSettings, Settings, SettingWatchFace, SettingTimeFormat, SettingDisplay, SettingWakeUp
     };
   }

src/displayapp/DisplayApp.cpp

@@ -1,10 +1,12 @@
 #include "DisplayApp.h"
 #include <libraries/log/nrf_log.h>
 #include <displayapp/screens/HeartRate.h>
+#include <displayapp/screens/Motion.h>
 #include "components/battery/BatteryController.h"
 #include "components/ble/BleController.h"
 #include "components/datetime/DateTimeController.h"
 #include "components/ble/NotificationManager.h"
+#include "components/motion/MotionController.h"
 #include "displayapp/screens/ApplicationList.h"
 #include "displayapp/screens/Brightness.h"
 #include "displayapp/screens/Clock.h"
@@ -43,7 +45,8 @@ DisplayApp::DisplayApp(Drivers::St7789 &lcd, Components::LittleVgl &lvgl, Driver
                        System::SystemTask &systemTask,
                        Pinetime::Controllers::NotificationManager& notificationManager,
                        Pinetime::Controllers::HeartRateController& heartRateController,
-                       Controllers::Settings &settingsController) :
+                       Controllers::Settings &settingsController,
+                       Pinetime::Controllers::MotionController& motionController) :
         lcd{lcd},
         lvgl{lvgl},
         touchPanel{touchPanel},
@@ -54,7 +57,8 @@ DisplayApp::DisplayApp(Drivers::St7789 &lcd, Components::LittleVgl &lvgl, Driver
         systemTask{systemTask},
         notificationManager{notificationManager},
         heartRateController{heartRateController},
-        settingsController{settingsController} {
+        settingsController{settingsController},
+        motionController{motionController} {
   msgQueue = xQueueCreate(queueSize, itemSize);
   // Start clock when smartwatch boots
   LoadApp( Apps::Clock, DisplayApp::FullRefreshDirections::None );
@@ -220,7 +224,7 @@ void DisplayApp::LoadApp(Apps app, DisplayApp::FullRefreshDirections direction)
       break;
     case Apps::None:
     case Apps::Clock:
-      currentScreen = std::make_unique<Screens::Clock>(this, dateTimeController, batteryController, bleController, notificationManager, settingsController, heartRateController); 
+      currentScreen = std::make_unique<Screens::Clock>(this, dateTimeController, batteryController, bleController, notificationManager, settingsController, heartRateController, motionController);
       break;
 
     case Apps::FirmwareValidation:
@@ -300,6 +304,10 @@ void DisplayApp::LoadApp(Apps app, DisplayApp::FullRefreshDirections direction)
     case Apps::HeartRate:
       currentScreen = std::make_unique<Screens::HeartRate>(this, heartRateController, systemTask);
       break;
+    case Apps::Motion:
+      currentScreen = std::make_unique<Screens::Motion>(this, motionController);
+      break;
+
   }
   currentApp = app;
 }

src/displayapp/DisplayApp.h

@@ -27,6 +27,7 @@ namespace Pinetime {
     class DateTime;
     class NotificationManager;
     class HeartRateController;
+    class MotionController;
   }
 
   namespace System {
@@ -45,7 +46,8 @@ namespace Pinetime {
                    System::SystemTask &systemTask,
                    Pinetime::Controllers::NotificationManager& notificationManager,
                    Pinetime::Controllers::HeartRateController& heartRateController,
-                   Controllers::Settings &settingsController
+                   Controllers::Settings &settingsController,
+                   Pinetime::Controllers::MotionController& motionController
                    );
         void Start();
         void PushMessage(Display::Messages msg);
@@ -68,6 +70,7 @@ namespace Pinetime {
         Pinetime::Controllers::NotificationManager& notificationManager;
         Pinetime::Controllers::HeartRateController& heartRateController;
         Pinetime::Controllers::Settings& settingsController;
+        Pinetime::Controllers::MotionController& motionController;
 
         Pinetime::Controllers::FirmwareValidator validator;
         Controllers::BrightnessController brightnessController;

src/displayapp/DisplayAppRecovery.cpp

@@ -13,7 +13,8 @@ DisplayApp::DisplayApp(Drivers::St7789 &lcd, Components::LittleVgl &lvgl, Driver
                        System::SystemTask &systemTask,
                        Pinetime::Controllers::NotificationManager& notificationManager,
                        Pinetime::Controllers::HeartRateController& heartRateController,
-                       Pinetime::Controllers::Settings& settingsController):
+                       Pinetime::Controllers::Settings& settingsController,
+                       Pinetime::Controllers::MotionController& motionController):
     lcd{lcd}, bleController{bleController} {
   msgQueue = xQueueCreate(queueSize, itemSize);
 

src/displayapp/DisplayAppRecovery.h

@@ -16,6 +16,7 @@
 #include <date/date.h>
 #include <drivers/Watchdog.h>
 #include <components/heartrate/HeartRateController.h>
+#include <components/motion/MotionController.h>
 #include <components/settings/Settings.h>
 #include "TouchEvents.h"
 #include "Apps.h"
@@ -35,7 +36,8 @@ namespace Pinetime {
                  System::SystemTask &systemTask,
                  Pinetime::Controllers::NotificationManager& notificationManager,
                  Pinetime::Controllers::HeartRateController& heartRateController,
-                 Pinetime::Controllers::Settings& settingsController);
+                 Pinetime::Controllers::Settings& settingsController,
+                 Pinetime::Controllers::MotionController& motionController);
       void Start();
       void PushMessage(Pinetime::Applications::Display::Messages msg);
 

src/displayapp/lv_pinetime_theme.c

@@ -53,6 +53,7 @@ static lv_style_t style_table_cell;
 static lv_style_t style_pad_small;
 static lv_style_t style_bg_grad;
 static lv_style_t style_lmeter;
+static lv_style_t style_chart_serie;
 static lv_style_t style_cb_bg;
 static lv_style_t style_cb_bullet;
 
@@ -277,6 +278,12 @@ static void basic_init(void)
     lv_style_set_line_width(&style_lmeter, LV_STATE_DEFAULT, LV_DPX(10));
     lv_style_set_scale_end_line_width(&style_lmeter, LV_STATE_DEFAULT, LV_DPX(7));
 
+    style_init_reset(&style_chart_serie);
+    lv_style_set_line_color(&style_chart_serie, LV_STATE_DEFAULT, LV_PINETIME_WHITE);
+    lv_style_set_line_width(&style_chart_serie, LV_STATE_DEFAULT, 4);
+    lv_style_set_size(&style_chart_serie, LV_STATE_DEFAULT, 4);
+    lv_style_set_bg_opa(&style_chart_serie, LV_STATE_DEFAULT, 0);
+
     lv_style_reset(&style_cb_bg);
     lv_style_set_radius(&style_cb_bg, LV_STATE_DEFAULT, LV_DPX(4));
     lv_style_set_pad_inner(&style_cb_bg, LV_STATE_DEFAULT, LV_DPX(10));
@@ -501,6 +508,13 @@ static void theme_apply(lv_obj_t * obj, lv_theme_style_t name)
             _lv_style_list_add_style(list, &style_lmeter);
             break;
 
+        case LV_THEME_CHART:
+          lv_obj_clean_style_list(obj, LV_CHART_PART_SERIES);
+          list = lv_obj_get_style_list(obj, LV_CHART_PART_SERIES);
+          _lv_style_list_add_style(list, &style_btn);
+          _lv_style_list_add_style(list, &style_chart_serie);
+          break;
+
         case LV_THEME_CHECKBOX:
             list = lv_obj_get_style_list(obj, LV_CHECKBOX_PART_BG);
             _lv_style_list_add_style(list, &style_cb_bg);

src/displayapp/screens/ApplicationList.cpp

@@ -47,7 +47,7 @@ std::unique_ptr<Screen> ApplicationList::CreateScreen1() {
             {Symbols::stopWatch,    Apps::StopWatch},
             {Symbols::music,        Apps::Music},
             {Symbols::map,          Apps::Navigation},
-            {Symbols::shoe,         Apps::Clock},
+            {Symbols::shoe,         Apps::Motion},
             {Symbols::heartBeat,    Apps::HeartRate},
             {"",                    Apps::None},
           }

src/displayapp/screens/Clock.cpp

@@ -8,6 +8,7 @@
 #include "NotificationIcon.h"
 #include "Symbols.h"
 #include "components/battery/BatteryController.h"
+#include "components/motion/MotionController.h"
 #include "components/ble/BleController.h"
 #include "components/ble/NotificationManager.h"
 #include "../DisplayApp.h"
@@ -23,11 +24,13 @@ Clock::Clock(DisplayApp* app,
         Controllers::Ble& bleController,
         Controllers::NotificationManager& notificatioManager,
         Controllers::Settings &settingsController,
-        Controllers::HeartRateController& heartRateController) : Screen(app),
+        Controllers::HeartRateController& heartRateController,
+        Controllers::MotionController& motionController) : Screen(app),
         dateTimeController{dateTimeController}, batteryController{batteryController},
         bleController{bleController}, notificatioManager{notificatioManager},
         settingsController{settingsController},
         heartRateController{heartRateController},
+        motionController{motionController},
         screens{app,
           settingsController.GetClockFace(),
           {
@@ -59,7 +62,7 @@ bool Clock::OnTouchEvent(Pinetime::Applications::TouchEvents event) {
 }
 
 std::unique_ptr<Screen> Clock::WatchFaceDigitalScreen() {  
-  return std::make_unique<Screens::WatchFaceDigital>(app, dateTimeController, batteryController, bleController, notificatioManager, settingsController, heartRateController);
+  return std::make_unique<Screens::WatchFaceDigital>(app, dateTimeController, batteryController, bleController, notificatioManager, settingsController, heartRateController, motionController);
 }
 
 std::unique_ptr<Screen> Clock::WatchFaceAnalogScreen() {  

src/displayapp/screens/Clock.h

@@ -17,6 +17,7 @@ namespace Pinetime {
     class Battery;
     class Ble;
     class NotificationManager;
+    class MotionController;
   }
 
   namespace Applications {
@@ -29,7 +30,8 @@ namespace Pinetime {
                   Controllers::Ble& bleController,
                   Controllers::NotificationManager& notificatioManager,
                   Controllers::Settings &settingsController,
-                  Controllers::HeartRateController& heartRateController);
+                  Controllers::HeartRateController& heartRateController,
+                  Controllers::MotionController& motionController);
           ~Clock() override;
 
           bool Refresh() override;
@@ -44,6 +46,7 @@ namespace Pinetime {
           Controllers::NotificationManager& notificatioManager;
           Controllers::Settings& settingsController;
           Controllers::HeartRateController& heartRateController;
+          Controllers::MotionController& motionController;
 
 
           ScreenList<2> screens;

src/displayapp/screens/Motion.cpp

@@ -0,0 +1,59 @@
+#include <libs/lvgl/lvgl.h>
+#include "Motion.h"
+#include "../DisplayApp.h"
+
+using namespace Pinetime::Applications::Screens;
+extern lv_font_t jetbrains_mono_extrabold_compressed;
+extern lv_font_t jetbrains_mono_bold_20;
+
+
+Motion::Motion(Pinetime::Applications::DisplayApp *app, Controllers::MotionController& motionController) : Screen(app), motionController{motionController} {
+  chart = lv_chart_create(lv_scr_act(), NULL);
+  lv_obj_set_size(chart, 240, 240);
+  lv_obj_align(chart, NULL, LV_ALIGN_IN_TOP_MID, 0, 0);
+  lv_chart_set_type(chart, LV_CHART_TYPE_LINE);   /*Show lines and points too*/
+  //lv_chart_set_series_opa(chart, LV_OPA_70);                            /*Opacity of the data series*/
+  //lv_chart_set_series_width(chart, 4);                                  /*Line width and point radious*/
+
+  lv_chart_set_range(chart, -1100, 1100);
+  lv_chart_set_update_mode(chart, LV_CHART_UPDATE_MODE_SHIFT);
+  lv_chart_set_point_count(chart, 10);
+
+  /*Add 3 data series*/
+  ser1 = lv_chart_add_series(chart, LV_COLOR_RED);
+  ser2 = lv_chart_add_series(chart, LV_COLOR_GREEN);
+  ser3 = lv_chart_add_series(chart, LV_COLOR_YELLOW);
+
+  lv_chart_init_points(chart, ser1, 0);
+  lv_chart_init_points(chart, ser2, 0);
+  lv_chart_init_points(chart, ser3, 0);
+  lv_chart_refresh(chart); /*Required after direct set*/
+
+  labelStep = lv_label_create(lv_scr_act(), NULL);
+  lv_obj_align(labelStep, chart, LV_ALIGN_IN_BOTTOM_LEFT, 0, 0);
+  lv_label_set_text(labelStep, "Steps: ");
+
+  labelStepValue = lv_label_create(lv_scr_act(), NULL);
+  lv_obj_align(labelStepValue, labelStep, LV_ALIGN_OUT_RIGHT_MID, 0, 0);
+  lv_label_set_text(labelStepValue, "-");
+}
+
+Motion::~Motion() {
+  lv_obj_clean(lv_scr_act());
+}
+
+bool Motion::Refresh() {
+  lv_chart_set_next(chart, ser1, motionController.X());
+  lv_chart_set_next(chart, ser2, motionController.Y());
+  lv_chart_set_next(chart, ser3, motionController.Z());
+
+  snprintf(nbStepsBuffer, nbStepsBufferSize, "%lu", motionController.NbSteps());
+  lv_label_set_text(labelStepValue, nbStepsBuffer);
+
+  return running;
+}
+
+bool Motion::OnButtonPushed() {
+  running = false;
+  return true;
+}

src/displayapp/screens/Motion.h

@@ -0,0 +1,39 @@
+#pragma once
+
+#include <cstdint>
+#include <chrono>
+#include "Screen.h"
+#include <bits/unique_ptr.h>
+#include <libs/lvgl/src/lv_core/lv_style.h>
+#include <libs/lvgl/src/lv_core/lv_obj.h>
+#include <components/motion/MotionController.h>
+
+namespace Pinetime {
+  namespace Applications {
+    namespace Screens {
+
+      class Motion : public Screen{
+      public:
+        Motion(DisplayApp* app, Controllers::MotionController& motionController);
+        ~Motion() override;
+
+        bool Refresh() override;
+        bool OnButtonPushed() override;
+
+      private:
+        Controllers::MotionController& motionController;
+        lv_obj_t * chart;
+        lv_chart_series_t * ser1;
+        lv_chart_series_t * ser2;
+        lv_chart_series_t * ser3;
+
+        lv_obj_t* labelStep;
+        lv_obj_t* labelStepValue;
+        static constexpr uint8_t nbStepsBufferSize = 9;
+        char nbStepsBuffer[nbStepsBufferSize+1];
+        bool running = true;
+
+      };
+    }
+  }
+}

src/displayapp/screens/WatchFaceDigital.cpp

@@ -11,6 +11,7 @@
 #include "components/ble/BleController.h"
 #include "components/ble/NotificationManager.h"
 #include "components/heartrate/HeartRateController.h"
+#include "components/motion/MotionController.h"
 #include "components/settings/Settings.h"
 #include "../DisplayApp.h"
 
@@ -23,11 +24,13 @@ WatchFaceDigital::WatchFaceDigital(DisplayApp* app,
         Controllers::Ble& bleController,
         Controllers::NotificationManager& notificatioManager,
         Controllers::Settings &settingsController,
-        Controllers::HeartRateController& heartRateController): Screen(app), currentDateTime{{}},
+        Controllers::HeartRateController& heartRateController,
+        Controllers::MotionController& motionController) : Screen(app), currentDateTime{{}},
                                            dateTimeController{dateTimeController}, batteryController{batteryController},
                                            bleController{bleController}, notificatioManager{notificatioManager},
                                            settingsController{settingsController},
-                                           heartRateController{heartRateController} {
+                                           heartRateController{heartRateController},
+                                           motionController{motionController} {
   settingsController.SetClockFace(0);
 
   displayedChar[0] = 0;
@@ -236,10 +239,14 @@ bool WatchFaceDigital::Refresh() {
     lv_obj_align(heartbeatBpm, heartbeatValue, LV_ALIGN_OUT_RIGHT_MID, 5, 0);
   }
 
-  // TODO stepCount = stepController.GetValue();
+  stepCount = motionController.NbSteps();
-  if(stepCount.IsUpdated()) {
+  motionSensorOk = motionController.IsSensorOk();
+  if(stepCount.IsUpdated() || motionSensorOk.IsUpdated()) {
     char stepBuffer[5];
-    sprintf(stepBuffer, "%lu", stepCount.Get());
+    if(motionSensorOk.Get())
+      sprintf(stepBuffer, "%lu", stepCount.Get());
+    else
+      sprintf(stepBuffer, "---", stepCount.Get());
     lv_label_set_text(stepValue, stepBuffer);
     lv_obj_align(stepValue, lv_scr_act(), LV_ALIGN_IN_BOTTOM_RIGHT, -5, -2);
     lv_obj_align(stepIcon, stepValue, LV_ALIGN_OUT_LEFT_MID, -5, 0);

src/displayapp/screens/WatchFaceDigital.h

@@ -15,6 +15,7 @@ namespace Pinetime {
     class Ble;
     class NotificationManager;
     class HeartRateController;
+    class MotionController;
   }
 
   namespace Applications {
@@ -28,7 +29,8 @@ namespace Pinetime {
                   Controllers::Ble& bleController,
                   Controllers::NotificationManager& notificatioManager,
                   Controllers::Settings &settingsController,
-                  Controllers::HeartRateController& heartRateController);
+                  Controllers::HeartRateController& heartRateController,
+                  Controllers::MotionController& motionController);
           ~WatchFaceDigital() override;
 
           bool Refresh() override;
@@ -48,6 +50,7 @@ namespace Pinetime {
           DirtyValue<int> batteryPercentRemaining  {};
           DirtyValue<bool> bleState {};
           DirtyValue<std::chrono::time_point<std::chrono::system_clock, std::chrono::nanoseconds>> currentDateTime{};
+          DirtyValue<bool> motionSensorOk  {};
           DirtyValue<uint32_t> stepCount  {};
           DirtyValue<uint8_t> heartbeat  {};
           DirtyValue<bool> heartbeatRunning  {};
@@ -73,6 +76,7 @@ namespace Pinetime {
           Controllers::NotificationManager& notificatioManager;
           Controllers::Settings& settingsController;
           Controllers::HeartRateController& heartRateController;
+          Controllers::MotionController& motionController;
 
           
 

src/drivers/Bma421.cpp

@@ -0,0 +1,116 @@
+#include <libraries/delay/nrf_delay.h>
+#include <libraries/log/nrf_log.h>
+#include "Bma421.h"
+#include "TwiMaster.h"
+#include <drivers/Bma421_C/bma423.h>
+
+using namespace Pinetime::Drivers;
+
+namespace {
+  int8_t user_i2c_read(uint8_t reg_addr, uint8_t* reg_data, uint32_t length, void* intf_ptr) {
+    auto bma421 = static_cast<Bma421*>(intf_ptr);
+    bma421->Read(reg_addr, reg_data, length);
+    return 0;
+  }
+
+  int8_t user_i2c_write(uint8_t reg_addr, const uint8_t* reg_data, uint32_t length, void* intf_ptr) {
+    auto bma421 = static_cast<Bma421*>(intf_ptr);
+    bma421->Write(reg_addr, reg_data, length);
+    return 0;
+  }
+
+  void user_delay(uint32_t period_us, void* intf_ptr) {
+    nrf_delay_us(period_us);
+  }
+}
+
+Bma421::Bma421(TwiMaster& twiMaster, uint8_t twiAddress) : twiMaster{twiMaster}, deviceAddress{twiAddress} {
+  bma.intf = BMA4_I2C_INTF;
+  bma.bus_read = user_i2c_read;
+  bma.bus_write = user_i2c_write;
+  bma.variant = BMA42X_VARIANT;
+  bma.intf_ptr = this;
+  bma.delay_us = user_delay;
+  bma.read_write_len = 8;
+}
+
+void Bma421::Init() {
+  if(not isResetOk) return; // Call SoftReset (and reset TWI device) first!
+
+  auto ret = bma423_init(&bma);
+  if(ret != BMA4_OK) return;
+
+  ret = bma423_write_config_file(&bma);
+  if(ret != BMA4_OK) return;
+
+  ret = bma4_set_interrupt_mode(BMA4_LATCH_MODE, &bma);
+  if(ret != BMA4_OK) return;
+
+  ret = bma423_feature_enable(BMA423_STEP_CNTR, 1, &bma);
+  if(ret != BMA4_OK) return;
+
+  ret = bma423_step_detector_enable(0, &bma);
+  if(ret != BMA4_OK) return;
+
+  ret = bma4_set_accel_enable(1, &bma);
+  if(ret != BMA4_OK) return;
+
+  struct bma4_accel_config accel_conf;
+  accel_conf.odr = BMA4_OUTPUT_DATA_RATE_100HZ;
+  accel_conf.range = BMA4_ACCEL_RANGE_2G;
+  accel_conf.bandwidth = BMA4_ACCEL_NORMAL_AVG4;
+  accel_conf.perf_mode = BMA4_CIC_AVG_MODE;
+  ret = bma4_set_accel_config(&accel_conf, &bma);
+  if(ret != BMA4_OK) return;
+
+  isOk = true;
+}
+
+void Bma421::Reset() {
+  uint8_t data = 0xb6;
+  twiMaster.Write(deviceAddress, 0x7E, &data, 1);
+}
+
+void Bma421::Read(uint8_t registerAddress, uint8_t *buffer, size_t size) {
+  twiMaster.Read(deviceAddress, registerAddress, buffer, size);
+}
+
+void Bma421::Write(uint8_t registerAddress, const uint8_t *data, size_t size) {
+  twiMaster.Write(deviceAddress, registerAddress, data, size);
+}
+
+Bma421::Values Bma421::Process() {
+  if(not isOk) return {};
+  struct bma4_accel data;
+  bma4_read_accel_xyz(&data, &bma);
+
+  uint32_t steps = 0;
+  bma423_step_counter_output(&steps, &bma);
+
+  int32_t temperature;
+  bma4_get_temperature(&temperature, BMA4_DEG, &bma);
+  temperature = temperature / 1000;
+
+  uint8_t activity = 0;
+  bma423_activity_output(&activity, &bma);
+
+  NRF_LOG_INFO("MOTION : %d - %d/%d/%d", steps, data.x, data.y, data.z);
+
+  // X and Y axis are swapped because of the way the sensor is mounted in the PineTime
+  return {steps, data.y, data.x, data.z};
+}
+bool Bma421::IsOk() const {
+  return isOk;
+}
+
+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

@@ -0,0 +1,43 @@
+#pragma once
+#include <drivers/Bma421_C/bma4_defs.h>
+
+namespace Pinetime {
+  namespace Drivers {
+    class TwiMaster;
+    class Bma421 {
+    public:
+      struct Values {
+        uint32_t steps;
+        int16_t x;
+        int16_t y;
+        int16_t z;
+      };
+      Bma421(TwiMaster& twiMaster, uint8_t twiAddress);
+      Bma421(const Bma421&) = delete;
+      Bma421& operator=(const Bma421&) = delete;
+      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();
+
+      void Read(uint8_t registerAddress, uint8_t *buffer, size_t size);
+      void Write(uint8_t registerAddress, const uint8_t *data, size_t size);
+
+      bool IsOk() const;
+
+    private:
+      void Reset();
+
+      TwiMaster& twiMaster;
+      uint8_t deviceAddress = 0x18;
+      struct bma4_dev bma;
+      bool isOk = false;
+      bool isResetOk = false;
+    };
+  }
+}

src/drivers/TwiMaster.cpp

@@ -2,196 +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} {
+TwiMaster::TwiMaster(const Modules module, const Parameters& params) : module{module}, params{params}, mutex{xSemaphoreCreateBinary()} {
-  mutex = xSemaphoreCreateBinary();
+  ASSERT(mutex != nullptr);
-  ASSERT(mutex != NULL);
+  switch(module) {
+    case Modules::TWIM1:
+    default:
+      twim = NRFX_TWIM_INSTANCE(1);
+      break;
+  }
 }
 
 void TwiMaster::Init() {
-  NRF_GPIO->PIN_CNF[params.pinScl] = ((uint32_t)GPIO_PIN_CNF_DIR_Input      << GPIO_PIN_CNF_DIR_Pos)
+  nrfx_twim_config_t config;
-                                     | ((uint32_t)GPIO_PIN_CNF_INPUT_Connect    << GPIO_PIN_CNF_INPUT_Pos)
+  config.frequency = static_cast<nrf_twim_frequency_t>(params.frequency);
-                                     | ((uint32_t)GPIO_PIN_CNF_PULL_Pullup      << GPIO_PIN_CNF_PULL_Pos)
+  config.hold_bus_uninit = false;
-                                     | ((uint32_t)GPIO_PIN_CNF_DRIVE_S0D1       << GPIO_PIN_CNF_DRIVE_Pos)
+  config.interrupt_priority = 0;
-                                     | ((uint32_t)GPIO_PIN_CNF_SENSE_Disabled   << GPIO_PIN_CNF_SENSE_Pos);
+  config.scl = params.pinScl;
-
+  config.sda = params.pinSda;
-  NRF_GPIO->PIN_CNF[params.pinSda] = ((uint32_t)GPIO_PIN_CNF_DIR_Input        << GPIO_PIN_CNF_DIR_Pos)
+  nrfx_twim_init(&twim,
-                                     | ((uint32_t)GPIO_PIN_CNF_INPUT_Connect    << GPIO_PIN_CNF_INPUT_Pos)
+                 &config,
-                                     | ((uint32_t)GPIO_PIN_CNF_PULL_Pullup      << GPIO_PIN_CNF_PULL_Pos)
+                 nullptr,
-                                     | ((uint32_t)GPIO_PIN_CNF_DRIVE_S0D1       << GPIO_PIN_CNF_DRIVE_Pos)
+                 nullptr);
-                                     | ((uint32_t)GPIO_PIN_CNF_SENSE_Disabled   << GPIO_PIN_CNF_SENSE_Pos);
+  nrfx_twim_enable(&twim);
-
-  switch(module) {
-    case Modules::TWIM1: twiBaseAddress = NRF_TWIM1; break;
-    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;
-  }
-
-  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);
-  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);
+  auto err = nrfx_twim_tx(&twim, deviceAddress, internalBuffer , size+1, false);
-  if(ret != ErrorCodes::NoError)
+  if(err != 0){
-    ret = Write(deviceAddress, internalBuffer, size+1, true);
+    return TwiMaster::ErrorCodes::TransactionFailed;
-
-  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;
   }
 
-  if (twiBaseAddress->EVENTS_ERROR) {
+  xSemaphoreGive(mutex);
-    twiBaseAddress->EVENTS_ERROR = 0x0UL;
+  return TwiMaster::ErrorCodes::NoError;
-  }
-  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;
 }
 
 void TwiMaster::Sleep() {
-  while(twiBaseAddress->ENABLE != 0) {
+  nrfx_twim_disable(&twim);
-    twiBaseAddress->ENABLE = (TWIM_ENABLE_ENABLE_Disabled << TWIM_ENABLE_ENABLE_Pos);
+  nrfx_twim_uninit(&twim);
-  }
+
   nrf_gpio_cfg_default(6);
   nrf_gpio_cfg_default(7);
   NRF_LOG_INFO("[TWIMASTER] Sleep");
@@ -201,30 +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);
+        nrfx_twim_t twim;
-        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;
         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/main.cpp

@@ -26,6 +26,7 @@
 #include <task.h>
 #include <timers.h>
 #include <drivers/Hrs3300.h>
+#include <drivers/Bma421.h>
 
 #include "components/battery/BatteryController.h"
 #include "components/ble/BleController.h"
@@ -60,6 +61,7 @@ static constexpr uint8_t pinLcdDataCommand = 18;
 static constexpr uint8_t pinTwiScl = 7;
 static constexpr uint8_t pinTwiSda = 6;
 static constexpr uint8_t touchPanelTwiAddress = 0x15;
+static constexpr uint8_t motionSensorTwiAddress = 0x18;
 static constexpr uint8_t heartRateSensorTwiAddress = 0x44;
 
 Pinetime::Drivers::SpiMaster spi{Pinetime::Drivers::SpiMaster::SpiModule::SPI0, {
@@ -98,14 +100,13 @@ static constexpr bool isFactory = false;
 Pinetime::Components::LittleVgl lvgl {lcd, touchPanel};
 #endif
 
-
+Pinetime::Drivers::Bma421 motionSensor{twiMaster, motionSensorTwiAddress};
 Pinetime::Drivers::Hrs3300 heartRateSensor {twiMaster, heartRateSensorTwiAddress};
 
 
 TimerHandle_t debounceTimer;
 Pinetime::Controllers::Battery batteryController;
 Pinetime::Controllers::Ble bleController;
-Pinetime::Controllers::DateTime dateTimeController;
 void ble_manager_set_ble_connection_callback(void (*connection)());
 void ble_manager_set_ble_disconnection_callback(void (*disconnection)());
 static constexpr uint8_t pinTouchIrq = 28;
@@ -257,7 +258,7 @@ int main(void) {
   debounceTimer = xTimerCreate ("debounceTimer", 200, pdFALSE, (void *) 0, DebounceTimerCallback);
 
   systemTask = std::make_unique<Pinetime::System::SystemTask>(spi, lcd, spiNorFlash, twiMaster, touchPanel, lvgl, batteryController, bleController,
-                                                    dateTimeController, motorController, heartRateSensor, settingsController);
+                                                    motorController, heartRateSensor, motionSensor, settingsController);
   systemTask->Start();
   nimble_port_init();
 

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

@@ -40,16 +40,16 @@ SystemTask::SystemTask(Drivers::SpiMaster &spi, Drivers::St7789 &lcd,
                        Drivers::TwiMaster& twiMaster, Drivers::Cst816S &touchPanel,
                        Components::LittleVgl &lvgl,
                        Controllers::Battery &batteryController, Controllers::Ble &bleController,
-                       Controllers::DateTime &dateTimeController,
                        Pinetime::Controllers::MotorController& motorController,
                        Pinetime::Drivers::Hrs3300& heartRateSensor,
+                       Pinetime::Drivers::Bma421& motionSensor,
                        Controllers::Settings &settingsController) :
                        spi{spi}, lcd{lcd}, spiNorFlash{spiNorFlash},
                        twiMaster{twiMaster}, touchPanel{touchPanel}, lvgl{lvgl}, batteryController{batteryController},
                        heartRateController{*this},
-                       bleController{bleController}, dateTimeController{dateTimeController},
+                       bleController{bleController}, dateTimeController{*this},
                        watchdog{}, watchdogView{watchdog},
-                       motorController{motorController}, heartRateSensor{heartRateSensor},
+                       motorController{motorController}, heartRateSensor{heartRateSensor}, motionSensor{motionSensor},
                        settingsController{settingsController},
                        nimbleController(*this, bleController,dateTimeController, notificationManager, batteryController, spiNorFlash, heartRateController) {
   systemTasksMsgQueue = xQueueCreate(10, 1);
@@ -84,13 +84,18 @@ void SystemTask::Work() {
   touchPanel.Init();
   batteryController.Init();
   motorController.Init();
+  motionSensor.SoftReset();
 
+  // 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,
-                                                          heartRateController, settingsController);
+                                                          heartRateController, settingsController, motionController);
   displayApp->Start();
 
   batteryController.Update();
@@ -132,8 +137,10 @@ void SystemTask::Work() {
   #pragma clang diagnostic push
   #pragma ide diagnostic ignored "EndlessLoop"
   while(true) {
+    UpdateMotion();
+
     uint8_t msg;
-    if (xQueueReceive(systemTasksMsgQueue, &msg, isSleeping ? 2500 : 1000)) {
+    if (xQueueReceive(systemTasksMsgQueue, &msg, 100)) {
       batteryController.Update();
       Messages message = static_cast<Messages >(msg);
       switch(message) {
@@ -148,10 +155,10 @@ void SystemTask::Work() {
         break;
         case Messages::GoToRunning:
           spi.Wakeup();
+          twiMaster.Wakeup();
 
           // Double Tap needs the touch screen to be in normal mode
           if ( settingsController.getWakeUpMode() != Pinetime::Controllers::Settings::WakeUpMode::DoubleTap ) {
-            twiMaster.Wakeup();
             touchPanel.Wakeup();
           }
 
@@ -168,7 +175,9 @@ void SystemTask::Work() {
           isWakingUp = false;
           break;
         case Messages::TouchWakeUp: {
+          twiMaster.Wakeup();
           auto touchInfo = touchPanel.GetTouchInfo();
+          twiMaster.Sleep();
           if( touchInfo.isTouch and 
               (
                 ( touchInfo.gesture == Pinetime::Drivers::Cst816S::Gestures::DoubleTap and 
@@ -232,12 +241,17 @@ void SystemTask::Work() {
           // Double Tap needs the touch screen to be in normal mode
           if ( settingsController.getWakeUpMode() != Pinetime::Controllers::Settings::WakeUpMode::DoubleTap ) {
             touchPanel.Sleep();
-            twiMaster.Sleep();
           }
+          twiMaster.Sleep();
           
           isSleeping = true;
           isGoingToSleep = false;
           break;
+        case Messages::OnNewDay:
+          // We might be sleeping (with TWI device disabled.
+          // Remember we'll have to reset the counter next time we're awake
+          stepCounterMustBeReset = true;
+          break;
         default: break;
       }
     }
@@ -262,6 +276,30 @@ void SystemTask::Work() {
   // Clear diagnostic suppression
   #pragma clang diagnostic pop
 }
+void SystemTask::UpdateMotion() {
+  if(isGoingToSleep or isWakingUp) return;
+
+  if(isSleeping)
+    twiMaster.Wakeup();
+
+  if(stepCounterMustBeReset) {
+    motionSensor.ResetStepCounter();
+    stepCounterMustBeReset = false;
+  }
+
+  auto motionValues = motionSensor.Process();
+  if(isSleeping)
+    twiMaster.Sleep();
+
+  motionController.IsSensorOk(motionSensor.IsOk());
+  motionController.Update(motionValues.x,
+                          motionValues.y,
+                          motionValues.z,
+                          motionValues.steps);
+  if (motionController.ShouldWakeUp(isSleeping)) {
+    GoToRunning();
+  }
+}
 
 void SystemTask::OnButtonPushed() {
   if(isGoingToSleep) return;
@@ -279,6 +317,7 @@ void SystemTask::OnButtonPushed() {
 }
 
 void SystemTask::GoToRunning() {
+  if(isGoingToSleep or (not isSleeping) or isWakingUp) return;
   isWakingUp = true;
   PushMessage(Messages::GoToRunning);
 }

src/systemtask/SystemTask.h

@@ -8,6 +8,8 @@
 #include <heartratetask/HeartRateTask.h>
 #include <components/heartrate/HeartRateController.h>
 #include <components/settings/Settings.h>
+#include <drivers/Bma421.h>
+#include <components/motion/MotionController.h>
 
 #include "SystemMonitor.h"
 #include "components/battery/BatteryController.h"
@@ -38,7 +40,8 @@ namespace Pinetime {
     class SystemTask {
       public:
         enum class Messages {GoToSleep, GoToRunning, TouchWakeUp, OnNewTime, OnNewNotification, OnNewCall, BleConnected, UpdateTimeOut,
-            BleFirmwareUpdateStarted, BleFirmwareUpdateFinished, OnTouchEvent, OnButtonEvent, OnDisplayTaskSleeping, EnableSleeping, DisableSleeping
+            BleFirmwareUpdateStarted, BleFirmwareUpdateFinished, OnTouchEvent, OnButtonEvent, OnDisplayTaskSleeping, EnableSleeping, DisableSleeping,
+            OnNewDay
         };
 
         SystemTask(Drivers::SpiMaster &spi, Drivers::St7789 &lcd,
@@ -46,9 +49,9 @@ namespace Pinetime {
                    Drivers::TwiMaster& twiMaster, Drivers::Cst816S &touchPanel,
                    Components::LittleVgl &lvgl,
                    Controllers::Battery &batteryController, Controllers::Ble &bleController,
-                   Controllers::DateTime &dateTimeController,
                    Pinetime::Controllers::MotorController& motorController,
                    Pinetime::Drivers::Hrs3300& heartRateSensor,
+                   Pinetime::Drivers::Bma421& motionSensor,
                    Controllers::Settings &settingsController);
 
 
@@ -77,7 +80,7 @@ namespace Pinetime {
         std::unique_ptr<Pinetime::Applications::HeartRateTask> heartRateApp;
 
         Pinetime::Controllers::Ble& bleController;
-        Pinetime::Controllers::DateTime& dateTimeController;
+        Pinetime::Controllers::DateTime dateTimeController;
         QueueHandle_t systemTasksMsgQueue;
         std::atomic<bool> isSleeping{false};
         std::atomic<bool> isGoingToSleep{false};
@@ -87,9 +90,11 @@ namespace Pinetime {
         Pinetime::Controllers::NotificationManager notificationManager;
         Pinetime::Controllers::MotorController& motorController;
         Pinetime::Drivers::Hrs3300& heartRateSensor;
+        Pinetime::Drivers::Bma421& motionSensor;
         Pinetime::Controllers::Settings& settingsController;
         Pinetime::Controllers::NimbleController nimbleController;
         Controllers::BrightnessController brightnessController;
+        Pinetime::Controllers::MotionController motionController;
 
         static constexpr uint8_t pinSpiSck = 2;
         static constexpr uint8_t pinSpiMosi = 3;
@@ -108,6 +113,8 @@ namespace Pinetime {
         bool doNotGoToSleep = false;
 
         void GoToRunning();
+        void UpdateMotion();
+        bool stepCounterMustBeReset = false;
 
 #if configUSE_TRACE_FACILITY == 1
         SystemMonitor<FreeRtosMonitor> monitor;