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/stm32wbxx_hal_msp.c

@@ -125,10 +125,14 @@ void HAL_I2C_MspInit(I2C_HandleTypeDef* hi2c)
     GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
     GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
     GPIO_InitStruct.Alternate = GPIO_AF4_I2C1;
     HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
+    __HAL_SYSCFG_FASTMODEPLUS_ENABLE(SYSCFG_FASTMODEPLUS_PB8);
+
+    __HAL_SYSCFG_FASTMODEPLUS_ENABLE(SYSCFG_FASTMODEPLUS_PB9);
+
     /* Peripheral clock enable */
     __HAL_RCC_I2C1_CLK_ENABLE();