First integration of the motion sensor (bma 421) : step counting + wake on wrist rotation + app to see the value of the 3 axis in "real time".

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)

src/CMakeLists.txt

@@ -490,6 +490,7 @@ list(APPEND SOURCE_FILES
         displayapp/screens/Notifications.cpp
         displayapp/screens/Twos.cpp
         displayapp/screens/HeartRate.cpp
+        displayapp/screens/Motion.cpp
 
         ## Watch faces
         displayapp/icons/bg_clock.c
@@ -508,11 +509,15 @@ 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
@@ -563,11 +568,15 @@ 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
@@ -651,6 +660,7 @@ 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
@@ -659,11 +669,15 @@ 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/motion/MotionController.cpp

@@ -0,0 +1,33 @@
+#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;
+}

src/components/motion/MotionController.h

@@ -0,0 +1,26 @@
+#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);
+
+      private:
+      uint32_t nbSteps;
+      int16_t x;
+      int16_t y;
+      int16_t z;
+      int16_t lastYForWakeUp = 0;
+
+    };
+  }
+}

src/displayapp/Apps.h

@@ -2,6 +2,7 @@
 
 namespace Pinetime {
   namespace Applications {
-    enum class Apps {None, Launcher, Clock, SysInfo, Meter, Brightness, Music, FirmwareValidation, Paint, Paddle, Notifications, Twos, HeartRate, Navigation, StopWatch};
+    enum class Apps {None, Launcher, Clock, SysInfo, Meter, Brightness, Music, FirmwareValidation,
+                      Paint, Paddle, Notifications, Twos, HeartRate, Navigation, StopWatch, Motion};
   }
 }

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"
@@ -34,7 +36,8 @@ 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},
         batteryController{batteryController},
@@ -42,11 +45,12 @@ DisplayApp::DisplayApp(Drivers::St7789 &lcd, Components::LittleVgl &lvgl, Driver
         dateTimeController{dateTimeController},
         watchdog{watchdog},
         touchPanel{touchPanel},
-        currentScreen{new Screens::Clock(this, dateTimeController, batteryController, bleController, notificationManager, settingsController, heartRateController) },
+        currentScreen{new Screens::Clock(this, dateTimeController, batteryController, bleController, notificationManager, settingsController, heartRateController, motionController) },
         systemTask{systemTask},
         notificationManager{notificationManager},
         heartRateController{heartRateController},
-        settingsController{settingsController} {
+        settingsController{settingsController},
+        motionController{motionController} {
   msgQueue = xQueueCreate(queueSize, itemSize);
   onClockApp = true;
 }
@@ -178,7 +182,7 @@ void DisplayApp::Refresh() {
         break;
        case Messages::UpdateDateTime:
        // Added to remove warning
-       // What should happen here? 
+       // What should happen here?
        break;
     }
   }
@@ -204,7 +208,7 @@ void DisplayApp::RunningState() {
       case Apps::None:
       case Apps::Launcher: currentScreen = std::make_unique<Screens::ApplicationList>(this, settingsController); break;
       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);
         onClockApp = true;
         break;
       case Apps::SysInfo: currentScreen = std::make_unique<Screens::SystemInfo>(this, dateTimeController, batteryController, brightnessController, bleController, watchdog); break;
@@ -219,6 +223,7 @@ void DisplayApp::RunningState() {
       case Apps::FirmwareValidation: currentScreen = std::make_unique<Screens::FirmwareValidation>(this, validator); break;
       case Apps::Notifications: currentScreen = std::make_unique<Screens::Notifications>(this, notificationManager, systemTask.nimble().alertService(), Screens::Notifications::Modes::Normal); break;
       case Apps::HeartRate: currentScreen = std::make_unique<Screens::HeartRate>(this, heartRateController); break;
+      case Apps::Motion: currentScreen = std::make_unique<Screens::Motion>(this, motionController); break;
     }
     nextApp = Apps::None;
   }

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);
@@ -92,6 +94,7 @@ namespace Pinetime {
         TouchModes touchMode = TouchModes::Gestures;
         Pinetime::Controllers::HeartRateController& heartRateController;
         Pinetime::Controllers::Settings& settingsController;
+        Pinetime::Controllers::MotionController& motionController;
     };
   }
 }

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 bool inited;
 
@@ -260,6 +261,11 @@ 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);
 }
 
 
@@ -465,7 +471,12 @@ static void theme_apply(lv_obj_t * obj, lv_theme_style_t name)
             _lv_style_list_add_style(list, &style_bg);
             _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);
 
         default:
             break;

src/displayapp/screens/ApplicationList.cpp

@@ -45,7 +45,7 @@ bool ApplicationList::OnTouchEvent(Pinetime::Applications::TouchEvents event) {
 
 std::unique_ptr<Screen> ApplicationList::CreateScreen1() {
   std::array<Screens::Tile::Applications, 6> applications {
-          {{Symbols::clock, Apps::Clock},
+          {{Symbols::info, Apps::Notifications},
           {Symbols::music, Apps::Music},
           {Symbols::sun, Apps::Brightness},
           {Symbols::list, Apps::SysInfo},
@@ -64,7 +64,7 @@ std::unique_ptr<Screen> ApplicationList::CreateScreen2() {
           {{Symbols::map, Apps::Navigation},
            {Symbols::stopWatch, Apps::StopWatch},
            {Symbols::paintbrush, Apps::Paint},
-           {Symbols::info, Apps::Notifications},
+           {Symbols::shoe, Apps::Motion},
            {Symbols::paddle, Apps::Paddle},
            {"2", Apps::Twos}
           }

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"
@@ -23,12 +24,14 @@ 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},
-        screens{app, 
+        motionController{motionController},
+        screens{app,
           settingsController.GetClockFace(),
           {
                 [this]() -> std::unique_ptr<Screen> { return WatchFaceDigitalScreen(); },
@@ -64,7 +67,7 @@ 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;
@@ -236,7 +239,7 @@ 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()) {
     char stepBuffer[5];
     sprintf(stepBuffer, "%lu", stepCount.Get());

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;
@@ -73,6 +75,7 @@ namespace Pinetime {
           Controllers::NotificationManager& notificatioManager;
           Controllers::Settings& settingsController;
           Controllers::HeartRateController& heartRateController;
+          Controllers::MotionController& motionController;
 
           bool running = true;
 

src/drivers/Bma421.cpp

@@ -0,0 +1,122 @@
+#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;
+
+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}, twiAddress{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;
+
+  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;
+
+
+}
+
+void Bma421::Init() {
+  auto ret = bma4_soft_reset(&bma);
+  ASSERT(ret == BMA4_OK);
+
+  nrf_delay_ms(1);
+
+  ret = bma423_init(&bma);
+  NRF_LOG_INFO("RESET : %d", ret);
+
+  //ret = bma423_init(&bma);
+  //NRF_LOG_INFO("ID : %d", bma.chip_id);
+  ASSERT(ret == BMA4_OK);
+
+  ret = bma423_write_config_file(&bma);
+  ASSERT(ret == BMA4_OK);
+
+  bma4_set_interrupt_mode(BMA4_LATCH_MODE, &bma);
+  struct bma4_int_pin_config int_pin_config;
+  int_pin_config.edge_ctrl = BMA4_LEVEL_TRIGGER;
+  int_pin_config.lvl = BMA4_ACTIVE_LOW;
+  int_pin_config.od = BMA4_PUSH_PULL;
+  int_pin_config.output_en = BMA4_OUTPUT_ENABLE;
+  int_pin_config.input_en = BMA4_INPUT_DISABLE;
+  bma4_set_int_pin_config(&int_pin_config, BMA4_INTR1_MAP, &bma);
+
+  //ret =  bma423_feature_enable(BMA423_STEP_CNTR | BMA423_STEP_ACT | BMA423_WRIST_WEAR | BMA423_SINGLE_TAP | BMA423_DOUBLE_TAP, 1, &bma);
+  ret = bma423_feature_enable(0xff, 1, &bma);
+  ASSERT(ret == BMA4_OK);
+
+  //ret = bma423_map_interrupt(BMA4_INTR1_MAP,  BMA423_SINGLE_TAP_INT | BMA423_STEP_CNTR_INT | BMA423_ACTIVITY_INT | BMA423_WRIST_WEAR_INT | BMA423_DOUBLE_TAP_INT | BMA423_ANY_MOT_INT | BMA423_NO_MOT_INT| BMA423_ERROR_INT, 1,&bma);
+  ret = bma423_map_interrupt(BMA4_INTR1_MAP,  BMA423_STEP_CNTR_INT, 1,&bma);
+  ASSERT(ret == BMA4_OK);
+
+  bma423_step_detector_enable(0, &bma);
+
+  bma423_any_no_mot_config motConfig;
+  motConfig.threshold = 0xaa;
+  motConfig.axes_en = 3;
+  motConfig.duration = 1;
+  bma423_set_any_mot_config(&motConfig, &bma);
+
+  ret = bma4_set_accel_enable(1, &bma);
+  ASSERT(ret == BMA4_OK);
+
+  ret = bma4_set_accel_config(&accel_conf, &bma);
+  ASSERT(ret == BMA4_OK);
+}
+
+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() {
+  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);
+
+
+  return {steps, data.x, data.y, data.z};
+}
+

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;
+
+      void Init();
+      void Reset();
+      Values Process();
+
+      void Read(uint8_t registerAddress, uint8_t *buffer, size_t size);
+      void Write(uint8_t registerAddress, const uint8_t *data, size_t size);
+
+      void OnIrq();
+
+      uint32_t GetNbInterrupts() const {return nbInterrupts;}
+
+    private:
+      TwiMaster& twiMaster;
+      uint8_t twiAddress;
+
+      struct bma4_dev bma;
+      struct bma4_accel_config accel_conf;
+      static constexpr uint8_t deviceAddress = 0x18;
+
+      uint32_t nbInterrupts = 0;
+    };
+  }
+}

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, {
@@ -98,7 +100,7 @@ static constexpr bool isFactory = false;
 Pinetime::Components::LittleVgl lvgl {lcd, touchPanel};
 #endif
 
-
+Pinetime::Drivers::Bma421 motionSensor{twiMaster, motionSensorTwiAddress};
 Pinetime::Drivers::Hrs3300 heartRateSensor {twiMaster, heartRateSensorTwiAddress};
 
 
@@ -257,7 +259,7 @@ 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);
+                                                    dateTimeController, motorController, heartRateSensor, motionSensor, settingsController);
   systemTask->Start();
   nimble_port_init();
 

src/systemtask/SystemTask.cpp

@@ -43,13 +43,14 @@ SystemTask::SystemTask(Drivers::SpiMaster &spi, Drivers::St7789 &lcd,
                        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},
                        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 +85,14 @@ void SystemTask::Work() {
   touchPanel.Init();
   batteryController.Init();
   motorController.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 +134,10 @@ 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) {
@@ -230,6 +234,23 @@ void SystemTask::Work() {
   // Clear diagnostic suppression
   #pragma clang diagnostic pop
 }
+void SystemTask::UpdateMotion() {
+  if(isGoingToSleep or isWakingUp) return;
+
+  if(isSleeping)
+    twiMaster.Wakeup();
+  auto motionValues = motionSensor.Process();
+  if(isSleeping)
+    twiMaster.Sleep();
+
+  motionController.Update(motionValues.y,
+                          motionValues.x,
+                          motionValues.z,
+                          motionValues.steps);
+  if (motionController.ShouldWakeUp(isSleeping)) {
+    GoToRunning();
+  }
+}
 
 void SystemTask::OnButtonPushed() {
   if(isGoingToSleep) return;
@@ -247,6 +268,7 @@ 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"
@@ -49,6 +51,7 @@ namespace Pinetime {
                    Controllers::DateTime &dateTimeController,
                    Pinetime::Controllers::MotorController& motorController,
                    Pinetime::Drivers::Hrs3300& heartRateSensor,
+                   Pinetime::Drivers::Bma421& motionSensor,
                    Controllers::Settings &settingsController);
 
 
@@ -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;
@@ -109,6 +114,7 @@ namespace Pinetime {
         bool doNotGoToSleep = false;
 
         void GoToRunning();
+        void UpdateMotion();
 
 #if configUSE_TRACE_FACILITY == 1
         SystemMonitor<FreeRtosMonitor> monitor;