Fix T1000-E QMA6100P I2C probing (#10713)

* Fix T1000-E QMA6100P I2C probing * Refactored to make generic * address copilot comments * fix(i2c): address copilot comments on QMA6100P scanning and hardware init - ScanI2CTwoWire: gate bounded QMA6100P probing to addresses 0x12/0x13 only (Copilot comment: avoid blocking other I2C device detection on nRF52) Falls back to normal Wire probing for all other addresses, allowing BMM150 and other devices at overlapping addresses to be properly detected. - Nrf52Twim: suppress cppcheck redundantAssignment on ENABLE register write (intentional disable→configure→enable pattern for hardware safety; explicit disable ensures known state before configuration even if already disabled) Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com> * Nrf52Twim: gate on HAS_QMA6100P; suppress cppcheck redundantAssignment The TWIM helper is only used by the QMA6100P probing path (T1000-E, the sole board defining HAS_QMA6100P). It was gated only on ARCH_NRF52, so it compiled as dead code on every other nRF52 board and was analyzed by the rak4631 cppcheck job -- which failed on a redundantAssignment false positive. Gate the header and source on HAS_QMA6100P so the file is only built/analyzed where it is actually used. Also keep an inline suppression on the ENABLE re-assignment (a required volatile disable->reconfigure->enable sequence) for the case where the T1000-E build is run through cppcheck locally. Fixes the rak4631 cppcheck CI failure for PR #10713. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com> --------- Co-authored-by: Ben Meadors <benmmeadors@gmail.com> Co-authored-by: nomdetom <nomdetom@protonmail.com> Co-authored-by: Tom <116762865+NomDeTom@users.noreply.github.com> Co-authored-by: Claude Haiku 4.5 <noreply@anthropic.com>
2026-10-16 08:31:35 +10:00 · 2026-06-30 14:52:06 -05:00
parent 2fdb722e00
commit 0eaad08735
4 changed files with 341 additions and 1 deletions
@@ -0,0 +1,167 @@
+#include "Nrf52Twim.h"
+
+#if defined(ARCH_NRF52) && defined(HAS_QMA6100P)
+
+#include <Arduino.h>
+#include <Wire.h>
+
+namespace
+{
+constexpr uint32_t i2cTimeoutUs = 5000;
+
+void stopTwim(NRF_TWIM_Type *twim);
+
+bool waitForEventOrError(volatile uint32_t &event, NRF_TWIM_Type *twim)
+{
+    const uint32_t start = micros();
+    while (!event && !twim->EVENTS_ERROR) {
+        if ((uint32_t)(micros() - start) >= i2cTimeoutUs) {
+            stopTwim(twim);
+            return false;
+        }
+    }
+    return event && !twim->EVENTS_ERROR;
+}
+
+void configureTwim(NRF_TWIM_Type *twim)
+{
+    twim->ENABLE = TWIM_ENABLE_ENABLE_Disabled;
+    twim->PSEL.SCL = PIN_WIRE_SCL;
+    twim->PSEL.SDA = PIN_WIRE_SDA;
+    twim->FREQUENCY = TWIM_FREQUENCY_FREQUENCY_K100;
+    // ENABLE is a volatile HW register: the peripheral must be disabled (above) before
+    // PSEL/FREQUENCY can be changed, then re-enabled here. Not a redundant store.
+    twim->ENABLE = TWIM_ENABLE_ENABLE_Enabled; // cppcheck-suppress redundantAssignment
+}
+
+void clearTwimEvents(NRF_TWIM_Type *twim)
+{
+    twim->SHORTS = 0;
+    twim->EVENTS_STOPPED = 0;
+    twim->EVENTS_ERROR = 0;
+    twim->EVENTS_SUSPENDED = 0;
+    twim->EVENTS_RXSTARTED = 0;
+    twim->EVENTS_TXSTARTED = 0;
+    twim->EVENTS_LASTRX = 0;
+    twim->EVENTS_LASTTX = 0;
+    twim->ERRORSRC = TWIM_ERRORSRC_ANACK_Msk | TWIM_ERRORSRC_DNACK_Msk | TWIM_ERRORSRC_OVERRUN_Msk;
+}
+
+void stopTwim(NRF_TWIM_Type *twim)
+{
+    twim->TASKS_STOP = 1;
+    const uint32_t start = micros();
+    while (!twim->EVENTS_STOPPED && (uint32_t)(micros() - start) < i2cTimeoutUs)
+        ;
+    clearTwimEvents(twim);
+}
+
+bool waitForStop(NRF_TWIM_Type *twim)
+{
+    const uint32_t start = micros();
+    while (!twim->EVENTS_STOPPED && !twim->EVENTS_ERROR) {
+        if ((uint32_t)(micros() - start) >= i2cTimeoutUs) {
+            stopTwim(twim);
+            return false;
+        }
+    }
+    const bool stopped = twim->EVENTS_STOPPED && !twim->EVENTS_ERROR;
+    if (!stopped)
+        stopTwim(twim);
+    else
+        clearTwimEvents(twim);
+    return stopped;
+}
+} // namespace
+
+namespace Nrf52Twim
+{
+void restoreBus()
+{
+#if defined(TRACKER_T1000_E)
+    pinMode(PIN_3V3_EN, OUTPUT);
+    digitalWrite(PIN_3V3_EN, HIGH);
+    pinMode(PIN_3V3_ACC_EN, OUTPUT);
+    digitalWrite(PIN_3V3_ACC_EN, HIGH);
+#ifdef T1000X_SENSOR_EN_PIN
+    pinMode(T1000X_SENSOR_EN_PIN, OUTPUT);
+    digitalWrite(T1000X_SENSOR_EN_PIN, HIGH);
+#endif
+    delay(20);
+#endif
+
+    Wire.end();
+
+    pinMode(PIN_WIRE_SCL, INPUT_PULLUP);
+    pinMode(PIN_WIRE_SDA, INPUT_PULLUP);
+    delayMicroseconds(10);
+
+    for (uint8_t i = 0; i < 9 && digitalRead(PIN_WIRE_SDA) == LOW; i++) {
+        pinMode(PIN_WIRE_SCL, OUTPUT);
+        digitalWrite(PIN_WIRE_SCL, LOW);
+        delayMicroseconds(5);
+        pinMode(PIN_WIRE_SCL, INPUT_PULLUP);
+        delayMicroseconds(5);
+    }
+
+    pinMode(PIN_WIRE_SDA, OUTPUT);
+    digitalWrite(PIN_WIRE_SDA, LOW);
+    delayMicroseconds(5);
+    pinMode(PIN_WIRE_SCL, INPUT_PULLUP);
+    delayMicroseconds(5);
+    pinMode(PIN_WIRE_SDA, INPUT_PULLUP);
+    delayMicroseconds(5);
+
+    Wire.begin();
+}
+
+bool readRegister(uint8_t address, uint8_t reg, uint8_t &value)
+{
+    NRF_TWIM_Type *twim = NRF_TWIM0;
+
+    configureTwim(twim);
+    clearTwimEvents(twim);
+    twim->ADDRESS = address;
+    twim->TXD.PTR = (uint32_t)&reg;
+    twim->TXD.MAXCNT = 1;
+    // LASTTX_SUSPEND shortcut: peripheral suspends automatically after the TX
+    // byte, so EVENTS_SUSPENDED is set before we even poll — no clearing race.
+    twim->SHORTS = TWIM_SHORTS_LASTTX_SUSPEND_Msk;
+    twim->TASKS_RESUME = 1;
+    twim->TASKS_STARTTX = 1;
+
+    if (!waitForEventOrError(twim->EVENTS_SUSPENDED, twim)) {
+        stopTwim(twim);
+        return false;
+    }
+
+    twim->EVENTS_SUSPENDED = 0;
+    twim->EVENTS_LASTRX = 0;
+    twim->RXD.PTR = (uint32_t)&value;
+    twim->RXD.MAXCNT = 1;
+    twim->SHORTS = TWIM_SHORTS_LASTRX_STOP_Msk;
+    twim->TASKS_RESUME = 1;
+    twim->TASKS_STARTRX = 1;
+
+    return waitForStop(twim) && twim->RXD.AMOUNT == 1;
+}
+
+bool writeRegister(uint8_t address, uint8_t reg, uint8_t value)
+{
+    NRF_TWIM_Type *twim = NRF_TWIM0;
+    uint8_t data[] = {reg, value};
+
+    configureTwim(twim);
+    clearTwimEvents(twim);
+    twim->ADDRESS = address;
+    twim->TXD.PTR = (uint32_t)data;
+    twim->TXD.MAXCNT = sizeof(data);
+    twim->SHORTS = TWIM_SHORTS_LASTTX_STOP_Msk;
+    twim->TASKS_RESUME = 1;
+    twim->TASKS_STARTTX = 1;
+
+    return waitForStop(twim);
+}
+} // namespace Nrf52Twim
+
+#endif
@@ -0,0 +1,18 @@
+#pragma once
+
+#include "configuration.h"
+
+// Only the QMA6100P probing path (T1000-E) uses this TWIM helper; gate it on
+// HAS_QMA6100P so it isn't compiled/analyzed as dead code on other nRF52 boards.
+#if defined(ARCH_NRF52) && defined(HAS_QMA6100P)
+
+#include <stdint.h>
+
+namespace Nrf52Twim
+{
+void restoreBus();
+bool readRegister(uint8_t address, uint8_t reg, uint8_t &value);
+bool writeRegister(uint8_t address, uint8_t reg, uint8_t value);
+} // namespace Nrf52Twim
+
+#endif