new attempt, seems to work?

src/mpu/sensor.rs

@@ -7,6 +7,7 @@ use crate::time::delay_ms_assembly;
 use core::marker::PhantomData;
 use core::time::Duration;
 use embedded_hal::blocking::i2c::{Write, WriteRead};
+use crate::led::Green;
 use crate::twi::TwiWrapper;
 
 const MPU6050_ADDRESS: u8 = 0x68;

src/twi.rs

@@ -3,7 +3,7 @@ use crate::once_cell::OnceCell;
 use core::sync::atomic::{AtomicBool, Ordering};
 use cortex_m::peripheral::NVIC;
 use nrf51_hal::gpio::p0::{P0_02, P0_04};
-use nrf51_hal::gpio::{Disconnected, Level, Pin};
+use nrf51_hal::gpio::{Disconnected, Pin};
 use nrf51_pac::interrupt;
 use nrf51_pac::twi0::frequency::FREQUENCY_A;
 use nrf51_pac::{Interrupt, GPIO, TWI0};
@@ -68,7 +68,7 @@ impl TwiWrapper {
             self.twi.shorts.write(|w| w.bb_suspend().set_bit())
         }
 
-        self.twi.tasks_starttx.write(|w| unsafe{w.bits(1)});
+        self.twi.tasks_startrx.write(|w| unsafe{w.bits(1)});
 
         let mut bytes_left = data.len();
         let mut write_ptr = 0;
@@ -179,10 +179,9 @@ pub(crate) fn initialize(
             .set_bit()
             .error()
             .set_bit()
-            .stopped()
-            .set_bit()
     });
 
+    twi.shorts.reset();
     twi.enable.write(|w| w.enable().enabled());
 
     // Initialize oncecell
@@ -207,8 +206,6 @@ pub(crate) fn initialize(
 
 #[interrupt]
 unsafe fn SPI0_TWI0() {
-    let _ = unsafe { nrf51_hal::gpio::p0::Parts::new(nrf51_pac::Peripherals::steal().GPIO).p0_19.into_push_pull_output(Level::High) };
-
     // Safety: interrupts are already turned off here, since we are inside an interrupt
     // We might be accessing the hardware while the interrupted code also wants to, this is fine since we're only touching the EVENT registers which are not touched by the other code
     let twi = unsafe { TWI.no_critical_section_lock_mut() };
@@ -229,7 +226,4 @@ unsafe fn SPI0_TWI0() {
             .write(|w| w.anack().clear_bit().overrun().clear_bit()); // Clear error source
         twi.twi.events_error.reset();
     }
-
-    let _ = unsafe { nrf51_hal::gpio::p0::Parts::new(nrf51_pac::Peripherals::steal().GPIO).p0_19.into_push_pull_output(Level::Low) };
-
 }