Fixed DMA and INT bugs

- Fixed indexed task notifications for INT and DMAf for both sensors
- Fixed the INT debugger startup freeze (added != NULL check in
callbacks)
- Fixed DMA notifications not being read properly/too early
- Changed IMU INT configure/enable function as one
- Added proper DMA checking in IMU calibration

Core/Src/sensors.h

@@ -10,10 +10,17 @@
 // I2C Handle
 extern I2C_HandleTypeDef hi2c1;
 extern osThreadId_t defaultTaskHandle;
-extern osThreadId_t xIMU_Task;
-extern osThreadId_t xMagn_Task;
+extern volatile osThreadId_t xIMU_Task;
+extern volatile osThreadId_t xMagn_Task;
 //extern osThreadId_t xData_Task;
 
+typedef enum {
+	ICM_NOTIFY_INT_DRDY = 0,
+	ICM_NOTIFY_DMA = 1,
+	BMM_NOTIFY_INT_DRDY = 0,
+	BMM_NOTIFY_DMA = 1
+} SENSOR_NOTIFY_INDEX;
+
 // ICM45686
 typedef struct {
 	SPI_HandleTypeDef *hspi;
@@ -66,7 +73,8 @@ typedef enum {
 	ICM45686_FIFO_COUNT = 0x12,
 	ICM45686_FIFO_DATA = 0x14,
 	ICM45686_INT1_CONFIG2 = 0x18,
-	ICM45686_INT1_CONFIG0 = 0x16
+	ICM45686_INT1_CONFIG0 = 0x16,
+	ICM45686_INT1_STATUS0 = 0x19
 } ICM45686_registers;
 
 typedef enum {
@@ -149,7 +157,7 @@ HAL_StatusTypeDef read_icm_dma (ICM45686_HandleTypeDef *imu, uint8_t tx[], uint8
 HAL_StatusTypeDef write_icm (ICM45686_HandleTypeDef *imu, uint8_t tx[], uint16_t len_tx);
 void calibrate_icm (ICM45686_HandleTypeDef * imu, int samples);
 void enable_interrupt_icm(ICM45686_HandleTypeDef *imu);
-void configure_interrupt_icm (ICM45686_HandleTypeDef *imu);
+void configure_and_enable_int_icm (ICM45686_HandleTypeDef *imu);
 
 // BMM350 - Declarations of read/write/delay functions for the BMM350 API
 void bmm_init_DWT(void);