The initialization of the Trusted Platform Module (TPM) failed

Today I've checked EventViewer -> Windows Logs -> System and saw that almost every second there is error entry with a message

The initialization of the Trusted Platform Module (TPM) failed. The TPM may be in failure mode. To allow diagnosis, contact the TPM manufacturer with the attached information.

can't open tpm.msc console, it says

Command get-tpm in PowerShell returns:

get-tpm : The TPM returned an unexpected result. (Exception from HRESULT: 0x8029010C)
At line:1 char:1
+ get-tpm
+ ~~~~~~~
    + CategoryInfo          : NotSpecified: (:) [Get-Tpm], TpmWmiException
    + FullyQualifiedErrorId : Microsoft.Tpm.Commands.TpmWmiException,Microsoft.Tpm.Commands.GetTpmCommand

I booted to safe mode, everything seems to work fine (console works, power shell command works, no event log errors).