Both sensors now run over interrupts in pulse mode. This still needs

tweaking as its buggy but works for now on full speed for both sensors.

Core/Src/main.c

@@ -30,6 +30,7 @@
 #include "bmm350.h"
 #include "bmm350_defs.h"
 #include "bmm350_oor.h"
+#include "task.h"
 
 // CDC functionality
 #include "usbd_cdc_if.h"
@@ -695,6 +696,10 @@ static void MX_GPIO_Init(void)
   GPIO_InitStruct.Pull = GPIO_NOPULL;
   HAL_GPIO_Init(GPIO_MAGN_INT_GPIO_Port, &GPIO_InitStruct);
 
+  /* EXTI interrupt init*/
+  HAL_NVIC_SetPriority(EXTI15_10_IRQn, 5, 0);
+  HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
+
   /* USER CODE BEGIN MX_GPIO_Init_2 */
 
   /* USER CODE END MX_GPIO_Init_2 */
@@ -716,8 +721,12 @@ void Start_DataAnalysis(void *argument)
   /* init code for USB_Device */
   MX_USB_Device_Init();
   /* USER CODE BEGIN 5 */
+
+  // TODO: USB/BLE Connection in beide Richtungen (MCU-PC)
+  // TODO: Einstellungen setzbar durch trinity control für IMU, Magnetometer, etc.
+
 //	HAL_StatusTypeDef status;
-//	char output_buffer[128];
+	char output_buffer[128];
 	ICM45686_Data imu_data;
 	struct bmm350_mag_temp_data magn_data;
 //	struct bmm350_raw_mag_data magn_data;
@@ -735,12 +744,12 @@ void Start_DataAnalysis(void *argument)
 	osMessageQueueGet(Q_BMMHandle, &magn_data, NULL, osWaitForever);
 	osMessageQueueGet(Q_ICMHandle, &imu_data, NULL, osWaitForever);
 
-//	MadgwickAHRS_update(&IMUQuat, imu_data.processed_imu_data[3], imu_data.processed_imu_data[4], imu_data.processed_imu_data[5], //gx, gy, gz
-//								  imu_data.processed_imu_data[0], imu_data.processed_imu_data[1], imu_data.processed_imu_data[2], // ax, ay, yz
-//								  magn_data.x, magn_data.y, magn_data.z); // mx, my, mz
-
-	MadgwickAHRS_update_IMU(&IMUQuat, imu_data.processed_imu_data[3], imu_data.processed_imu_data[4], imu_data.processed_imu_data[5], //gx, gy, gz
-								  imu_data.processed_imu_data[0], imu_data.processed_imu_data[1], imu_data.processed_imu_data[2]); // ax, ay, yz)
+	MadgwickAHRS_update(&IMUQuat, imu_data.processed_imu_data[3], imu_data.processed_imu_data[4], imu_data.processed_imu_data[5], //gx, gy, gz
+								  imu_data.processed_imu_data[0], imu_data.processed_imu_data[1], imu_data.processed_imu_data[2], // ax, ay, yz
+								  magn_data.x, magn_data.y, magn_data.z); // mx, my, mz
+//
+//	MadgwickAHRS_update_IMU(&IMUQuat, imu_data.processed_imu_data[3], imu_data.processed_imu_data[4], imu_data.processed_imu_data[5], //gx, gy, gz
+//								  imu_data.processed_imu_data[0], imu_data.processed_imu_data[1], imu_data.processed_imu_data[2]); // ax, ay, yz)
 
 
 	Quat_Dat.qw = IMUQuat.q[0];
@@ -761,8 +770,8 @@ void Start_DataAnalysis(void *argument)
 //	sprintf(output_buffer, "ICM:\ta_x: %.2f a_y: %.2f a_z: %.2f\t g_x: %.2f g_y: %.2f g_z: %.2f temp: %.2f \n", imu_data.processed_imu_data[0], imu_data.processed_imu_data[1], imu_data.processed_imu_data[2],
 //			imu_data.processed_imu_data[3], imu_data.processed_imu_data[4], imu_data.processed_imu_data[5], imu_data.processed_imu_data[6]);
 //	CDC_Transmit_FS((uint8_t*)output_buffer, (uint16_t)strlen(output_buffer));
-//
-//	// compensated mag data
+////
+////	// compensated mag data
 //	sprintf(output_buffer, "BMM:\tX: %.2f uT, Y: %.2f uT, Z: %.2f uT, Temp: %.2f C\n",
 //		 magn_data.x, magn_data.y, magn_data.z, magn_data.temperature);
 //	CDC_Transmit_FS((uint8_t*)output_buffer, (uint16_t)strlen(output_buffer));
@@ -777,7 +786,7 @@ void Start_DataAnalysis(void *argument)
 //
 //	sprintf(output_buffer, "------------\n");
 //	CDC_Transmit_FS((uint8_t*)output_buffer, (uint16_t)strlen(output_buffer));
-	osDelay(100);
+//	osDelay(100);
   }
 
   /* USER CODE END 5 */
@@ -816,14 +825,16 @@ void Start_ICM45686(void *argument)
 	tx[0] = 0x00 | 0x80;
 
 	init_icm(&imu);
+	osDelay(50);
+	configure_interrupt_icm(&imu);
+	enable_interrupt_icm(&imu);
+//	osDelay(500);
 //	calibrate_icm(&imu, 1000);
   /* Infinite loop */
   for(;;)
   {
-	  // imu
-//      HAL_GPIO_WritePin(GPIOA, GPIO_SPI1_IMU_CS_Pin, GPIO_PIN_RESET);
-//	  status = HAL_SPI_TransmitReceive_DMA(&hspi1, tx, raw_imu_data, sizeof(raw_imu_data)); //(&hspi1, tx, raw_imu_data, sizeof(raw_imu_data), 50);
-	  status = read_icm_dma(&imu, tx, raw_imu_data);
+	  ulTaskNotifyTake(pdFALSE, osWaitForever);
+	  status = read_icm_dma(&imu, tx, raw_imu_data, sizeof(tx));
 	  if (status != HAL_OK) {
 	    printf("Reading IMU sensordata failed: %d\n", status);
 	  }
@@ -854,12 +865,8 @@ void Start_ICM45686(void *argument)
 		  processed_data.processed_imu_data[6] -= imu.imu_bias[7];
 
 	  }
-//	  printf("[0]: %.2f    [3]: %.2f    [6]: %.2f\n", processed_data.processed_imu_data[0], processed_data.processed_imu_data[3], processed_data.processed_imu_data[6]);
 
 	  osMessageQueuePut(Q_ICMHandle, &processed_data, 0, 5);
-	  osDelay(100);
-
-
   }
   /* USER CODE END Start_ICM45686 */
 }
@@ -881,21 +888,26 @@ void Start_BMM350(void *argument)
 	struct bmm350_dev dev = {0x00};
 	int8_t rslt;
 	struct bmm350_mag_temp_data mag_data;
-	osDelay(250);
+	osDelay(500);
 //	struct bmm350_raw_mag_data mag_data;
 
-	//  struct bmm350_mag_temp_data mag_temp_data;
-	//  struct bmm350_pmu_cmd_status_0 pmu_cmd_stat_0;
-
 	// ODR: 200HZ, AVG:
 	rslt = init_bmm(&dev);
 	if (rslt != BMM350_OK) {
 		printf("BMM350 initialization failed: %d\n", rslt);
 		printf("Chip id: 0x%02X\n", dev.chip_id);
 	}
+
+	rslt = bmm_configure_interrupt(&dev);
+	if (rslt != BMM350_OK) {
+		printf("Configuring interrupt failed: %d\n", rslt);
+	}
+//	osDelay(200);
   /* Infinite loop */
   for(;;)
   {
+	  // wait for the interrupt
+	  ulTaskNotifyTake(pdFALSE, osWaitForever);
       // magnetometer
       rslt = bmm350_get_compensated_mag_xyz_temp_data(&mag_data, &dev);
 //      rslt = bmm350_read_uncomp_mag_temp_data(&mag_data, &dev);
@@ -906,10 +918,7 @@ void Start_BMM350(void *argument)
 //    	  CDC_Transmit_FS((uint8_t*)output_buffer, (uint16_t)strlen(output_buffer));
     	  osMessageQueuePut(Q_BMMHandle, &mag_data, 0, 5);
       }
-
-      osDelay(100);
-
-
+//      osDelay(100);
   }
   /* USER CODE END Start_BMM350 */
 }

Core/Src/sensors.c

@@ -47,29 +47,47 @@ void HAL_I2C_MemTxCpltCallback(I2C_HandleTypeDef *I2C_address) {
 void HAL_I2C_ErrorCallback(I2C_HandleTypeDef *hi2c) {
     if (hi2c->Instance == I2C1) {
         BaseType_t xHigherPriorityTaskWoken = pdFALSE;
-        printf("ErrorCallback: %ld", HAL_I2C_GetError(hi2c));
+        printf("ErrorCallback: %ld\n", HAL_I2C_GetError(hi2c));
         vTaskNotifyGiveFromISR(xMagn_Task, &xHigherPriorityTaskWoken);
         portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
     }
 }
 
+void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
+	// was macht das?
+	BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+
+	if (GPIO_Pin == GPIO_IMU_INT_Pin) {
+		 vTaskNotifyGiveFromISR(xIMU_Task, &xHigherPriorityTaskWoken);
+//		 printf("Triggered ICM45686 EXTI\n");
+	}
+
+	if (GPIO_Pin == GPIO_MAGN_INT_Pin) {
+		 vTaskNotifyGiveFromISR(xMagn_Task, &xHigherPriorityTaskWoken);
+//		 printf("Triggered BMM350 EXTI\n");
+	}
+	// was macht das?
+	portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
+
+}
+
 // ICM 45686
-HAL_StatusTypeDef read_icm (ICM45686_HandleTypeDef *imu, uint8_t tx[], uint8_t rx[]) {
+HAL_StatusTypeDef read_icm (ICM45686_HandleTypeDef *imu, uint8_t tx[], uint8_t rx[], uint16_t len_tx) {
 	HAL_GPIO_WritePin(imu->GPIO_Port, imu->GPIO_Pin, GPIO_PIN_RESET);
-	HAL_StatusTypeDef status = HAL_SPI_TransmitReceive(imu->hspi, tx, rx, sizeof(tx), 50);
+	HAL_StatusTypeDef status = HAL_SPI_TransmitReceive(imu->hspi, tx, rx, len_tx, 50);
 	HAL_GPIO_WritePin(imu->GPIO_Port, imu->GPIO_Pin, GPIO_PIN_SET);
 	return status;
 }
 
-HAL_StatusTypeDef read_icm_dma (ICM45686_HandleTypeDef *imu, uint8_t tx[], uint8_t rx[]) {
+HAL_StatusTypeDef read_icm_dma (ICM45686_HandleTypeDef *imu, uint8_t tx[], uint8_t rx[], uint16_t len_tx) {
 	HAL_GPIO_WritePin(imu->GPIO_Port, imu->GPIO_Pin, GPIO_PIN_RESET);
-	HAL_StatusTypeDef status = HAL_SPI_TransmitReceive_DMA(imu->hspi, tx, rx, sizeof(rx));
+	HAL_StatusTypeDef status = HAL_SPI_TransmitReceive_DMA(imu->hspi, tx, rx, len_tx);
 	return status;
 }
 
-HAL_StatusTypeDef write_icm (ICM45686_HandleTypeDef *imu, uint8_t tx[]) {
+HAL_StatusTypeDef write_icm (ICM45686_HandleTypeDef *imu, uint8_t tx[], uint16_t len_tx) {
 	HAL_GPIO_WritePin(imu->GPIO_Port, imu->GPIO_Pin, GPIO_PIN_RESET);
-	HAL_StatusTypeDef status = HAL_SPI_Transmit(imu->hspi, tx, sizeof(tx), 50);
+	HAL_StatusTypeDef status = HAL_SPI_Transmit(imu->hspi, tx, len_tx, 50);
 	HAL_GPIO_WritePin(imu->GPIO_Port, imu->GPIO_Pin, GPIO_PIN_SET);
 	return status;
 }
@@ -78,6 +96,18 @@ void init_icm(ICM45686_HandleTypeDef *imu) {
 	// TODO: Add settings as enum to choose from
 	// FIFO
 	// Interrupt
+	/* Interrupt functionality is configured via the Interrupt Configuration register. Items that are configurable include the
+		interrupt pins configuration, the interrupt latching and clearing method, and triggers for the interrupt. Items that
+		can trigger an interrupt are (1) Clock generator locked to new reference oscillator (used when switching clock
+		sources); (2) new data is available to be read (from the FIFO and Data registers); (3) accelerometer event
+		interrupts; (4) FIFO watermark; (5) FIFO overflow. The interrupt status can be read from the Interrupt Status
+		register.
+		- Configure interrupt pin on icm
+		- configure interrupt pin on bmm
+		- -> push/pull or open drain, latch, polarity
+		- everything stays as is only that a interrupt callback gets added, that when called wakes up the
+		corresponding task for the sensor
+		*/
 	// APEX???
 	// EDMP???
 
@@ -90,7 +120,7 @@ void init_icm(ICM45686_HandleTypeDef *imu) {
 //	HAL_GPIO_WritePin(imu->GPIO_Port, imu->GPIO_Pin, GPIO_PIN_RESET);
 //	status = HAL_SPI_TransmitReceive(imu->hspi, tx, rx, sizeof(tx), 50);
 //	HAL_GPIO_WritePin(GPIOA, GPIO_SPI1_IMU_CS_Pin, GPIO_PIN_SET);
-	status = read_icm(imu, tx, rx);
+	status = read_icm(imu, tx, rx, sizeof(tx));
 	if (status != HAL_OK) {
 	  printf("Error in reading WHO AM I:%d\n", status);
 	} else {
@@ -103,7 +133,7 @@ void init_icm(ICM45686_HandleTypeDef *imu) {
 //	HAL_GPIO_WritePin(GPIOA, GPIO_SPI1_IMU_CS_Pin, GPIO_PIN_RESET);
 //	status = HAL_SPI_Transmit(imu->hspi, tx, sizeof(tx), 50);
 //	HAL_GPIO_WritePin(GPIOA, GPIO_SPI1_IMU_CS_Pin, GPIO_PIN_SET);
-	status = write_icm(imu, tx);
+	status = write_icm(imu, tx, sizeof(tx));
 	if (status != HAL_OK) {
 	  printf("Error in setting ACCEL_CONFIG0:%d\n", status);
 	} else {
@@ -115,7 +145,7 @@ void init_icm(ICM45686_HandleTypeDef *imu) {
 //	HAL_GPIO_WritePin(GPIOA, GPIO_SPI1_IMU_CS_Pin, GPIO_PIN_RESET);
 //	status = HAL_SPI_TransmitReceive(imu->hspi, tx, rx, sizeof(tx), 50);
 //	HAL_GPIO_WritePin(GPIOA, GPIO_SPI1_IMU_CS_Pin, GPIO_PIN_SET);
-	status = read_icm(imu, tx, rx);
+	status = read_icm(imu, tx, rx, sizeof(tx));
 	if (status != HAL_OK) {
 	  printf("Error reading ACCEL_CONFIG0:%d\n", status);
 	} else {
@@ -128,7 +158,7 @@ void init_icm(ICM45686_HandleTypeDef *imu) {
 //	HAL_GPIO_WritePin(GPIOA, GPIO_SPI1_IMU_CS_Pin, GPIO_PIN_RESET);
 //	status = HAL_SPI_Transmit(imu->hspi, tx, sizeof(tx), 50);
 //	HAL_GPIO_WritePin(GPIOA, GPIO_SPI1_IMU_CS_Pin, GPIO_PIN_SET);
-	status = write_icm(imu, tx);
+	status = write_icm(imu, tx, sizeof(tx));
 	if (status != HAL_OK) {
 	  printf("Error in setting GYRO_CONFIG0:%d\n", status);
 	} else {
@@ -140,7 +170,7 @@ void init_icm(ICM45686_HandleTypeDef *imu) {
 //	HAL_GPIO_WritePin(GPIOA, GPIO_SPI1_IMU_CS_Pin, GPIO_PIN_RESET);
 //	status = HAL_SPI_TransmitReceive(imu->hspi, tx, rx, sizeof(tx), 50);
 //	HAL_GPIO_WritePin(GPIOA, GPIO_SPI1_IMU_CS_Pin, GPIO_PIN_SET);
-	status = read_icm(imu, tx, rx);
+	status = read_icm(imu, tx, rx, sizeof(tx));
 	if (status != HAL_OK) {
 	  printf("Error reading GYRO_CONFIG0:%d\n", status);
 	} else {
@@ -153,7 +183,7 @@ void init_icm(ICM45686_HandleTypeDef *imu) {
 //	HAL_GPIO_WritePin(GPIOA, GPIO_SPI1_IMU_CS_Pin, GPIO_PIN_RESET);
 //	status = HAL_SPI_Transmit(imu->hspi, tx, sizeof(tx), 50);
 //	HAL_GPIO_WritePin(GPIOA, GPIO_SPI1_IMU_CS_Pin, GPIO_PIN_SET);
-	status = write_icm(imu, tx);
+	status = write_icm(imu, tx, sizeof(tx));
 	if (status != HAL_OK) {
 	  printf("Error in setting PWR_MGMT0:%d\n", status);
 	} else {
@@ -165,7 +195,7 @@ void init_icm(ICM45686_HandleTypeDef *imu) {
 //	HAL_GPIO_WritePin(GPIOA, GPIO_SPI1_IMU_CS_Pin, GPIO_PIN_RESET);
 //	status = HAL_SPI_TransmitReceive(imu->hspi, tx, rx, sizeof(tx), 50);
 //	HAL_GPIO_WritePin(GPIOA, GPIO_SPI1_IMU_CS_Pin, GPIO_PIN_SET);
-	status = read_icm(imu, tx, rx);
+	status = read_icm(imu, tx, rx, sizeof(tx));
 	if (status != HAL_OK) {
 	  printf("Error reading PWR_MGMT0:%d\n", status);
 	} else {
@@ -183,7 +213,7 @@ void calibrate_icm(ICM45686_HandleTypeDef *imu, int samples) {
 	tx[0] = 0x00 | 0x80;
 
 	for (int i = 1; i <= samples; i++) {
-		  status = read_icm_dma(imu, tx, raw_data);
+		  status = read_icm_dma(imu, tx, raw_data, sizeof(tx));
 		  if (status != HAL_OK) {
 		    printf("Calibration read ICM failed: %d\n", status);
 		  }
@@ -217,6 +247,48 @@ void calibrate_icm(ICM45686_HandleTypeDef *imu, int samples) {
 
 }
 
+void enable_interrupt_icm(ICM45686_HandleTypeDef *imu) {
+	uint8_t tx[2], rx[2] = {0x00, 0x00};
+	tx[0] = ICM45686_INT1_CONFIG0;
+	tx[1] = 0x04;
+	printf("Enabling IMU INT pin\n");
+
+	HAL_StatusTypeDef status = write_icm(imu, tx, sizeof(tx));
+	if (status != HAL_OK) {
+		printf("Enabling of IMU INT failed: %d\n", status);
+	}
+
+	tx[0] = ICM45686_INT1_CONFIG0 | 0x80;
+	tx[1] = 0x00;
+	status = read_icm(imu, tx, rx, sizeof(tx));
+	if (status != HAL_OK) {
+		printf("Reading IMU INT configuration0 failed: %d\n", status);
+	} else {
+		printf("INT1_CONFIG0 read: 0x%02X\n", rx[1]);
+	}
+}
+
+void configure_interrupt_icm (ICM45686_HandleTypeDef *imu) {
+	uint8_t tx[2], rx[2] = {0x00, 0x00};
+
+	tx[0] = ICM45686_INT1_CONFIG2;
+	tx[1] = 0x01;
+	printf("Configuring IMU INT\n");
+	HAL_StatusTypeDef status = write_icm(imu, tx, sizeof(tx));
+	if (status != HAL_OK) {
+		printf("Configuration of IMU INT failed: %d\n", status);
+	}
+
+	tx[0] = ICM45686_INT1_CONFIG2 | 0x80;
+	tx[1] = 0x00;
+	status = read_icm(imu, tx, rx, sizeof(tx));
+	if (status != HAL_OK) {
+		printf("Reading IMU INT configuration2 failed: %d\n", status);
+	} else {
+		printf("INT1_CONFIG2 read: 0x%02X\n", rx[1]);
+	}
+}
+
 // BMM350
 void bmm_init_DWT(void){
 	// Enable trace and debug block (TRCENA)
@@ -301,5 +373,21 @@ int8_t init_bmm(struct bmm350_dev *dev) {
     rslt = bmm350_set_odr_performance(BMM350_DATA_RATE_200HZ, BMM350_AVERAGING_2, dev);
     printf("ODR(%d) and AVG(%d): %d\n", BMM350_DATA_RATE_200HZ, BMM350_AVERAGING_2, rslt);
 
+//    // configure interrupt
+//    rslt = bmm350_enable_interrupt(BMM350_ENABLE_INTERRUPT, dev);
+//    printf("Interrupt enable: %d", rslt);
+//    rslt = bmm350_configure_interrupt(BMM350_LATCHED, BMM350_ACTIVE_HIGH, BMM350_INTR_OPEN_DRAIN, BMM350_MAP_TO_PIN, dev);
+//    printf("Configure interrupt: %d", rslt);
+
+    return BMM350_OK;
+}
+
+int8_t bmm_configure_interrupt (struct bmm350_dev *dev) {
+	int8_t rslt;
+	rslt = bmm350_enable_interrupt(BMM350_ENABLE_INTERRUPT, dev);
+    printf("Interrupt enable: %d\n", rslt);
+    rslt = bmm350_configure_interrupt(BMM350_PULSED, BMM350_ACTIVE_HIGH, BMM350_INTR_PUSH_PULL, BMM350_MAP_TO_PIN, dev);
+    printf("Configure interrupt: %d\n", rslt);
+
     return BMM350_OK;
 }

Core/Src/sensors.h

@@ -64,7 +64,9 @@ typedef enum {
 	ICM45686_ACCEL_DATA = 0x00,
 	ICM45686_GYRO_DATA = 0x06,
 	ICM45686_FIFO_COUNT = 0x12,
-	ICM45686_FIFO_DATA = 0x14
+	ICM45686_FIFO_DATA = 0x14,
+	ICM45686_INT1_CONFIG2 = 0x18,
+	ICM45686_INT1_CONFIG0 = 0x16
 } ICM45686_registers;
 
 typedef enum {
@@ -138,13 +140,16 @@ void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi);
 void HAL_I2C_MemRxCpltCallback(I2C_HandleTypeDef *I2C_address);
 void HAL_I2C_MemTxCpltCallback(I2C_HandleTypeDef *I2C_address);
 void HAL_I2C_ErrorCallback(I2C_HandleTypeDef *hi2c);
+void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin);
 
 // ICM45686
 void init_icm(ICM45686_HandleTypeDef *imu);
-HAL_StatusTypeDef read_icm (ICM45686_HandleTypeDef *imu, uint8_t tx[], uint8_t rx[]);
-HAL_StatusTypeDef read_icm_dma (ICM45686_HandleTypeDef *imu, uint8_t tx[], uint8_t rx[]);
-HAL_StatusTypeDef write_icm (ICM45686_HandleTypeDef *imu, uint8_t tx[]);
+HAL_StatusTypeDef read_icm (ICM45686_HandleTypeDef *imu, uint8_t tx[], uint8_t rx[], uint16_t len_tx);
+HAL_StatusTypeDef read_icm_dma (ICM45686_HandleTypeDef *imu, uint8_t tx[], uint8_t rx[], uint16_t len_tx);
+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);
 
 // BMM350 - Declarations of read/write/delay functions for the BMM350 API
 void bmm_init_DWT(void);
@@ -152,6 +157,7 @@ BMM350_INTF_RET_TYPE bmm350_i2c_read(uint8_t reg_addr, uint8_t *reg_data, uint32
 BMM350_INTF_RET_TYPE bmm350_i2c_write(uint8_t reg_addr, const uint8_t *reg_data, uint32_t length, void *intf_ptr);
 void bmm350_delay(uint32_t period_us, void *intf_ptr);
 int8_t init_bmm(struct bmm350_dev *dev);
+int8_t bmm_configure_interrupt (struct bmm350_dev *dev);
 
 // structs that hold the sensor data
 typedef struct {

Core/Src/stm32wbxx_it.c

@@ -293,6 +293,21 @@ void I2C1_ER_IRQHandler(void)
   /* USER CODE END I2C1_ER_IRQn 1 */
 }
 
+/**
+  * @brief This function handles EXTI line[15:10] interrupts.
+  */
+void EXTI15_10_IRQHandler(void)
+{
+  /* USER CODE BEGIN EXTI15_10_IRQn 0 */
+
+  /* USER CODE END EXTI15_10_IRQn 0 */
+  HAL_GPIO_EXTI_IRQHandler(GPIO_IMU_INT_Pin);
+  HAL_GPIO_EXTI_IRQHandler(GPIO_MAGN_INT_Pin);
+  /* USER CODE BEGIN EXTI15_10_IRQn 1 */
+
+  /* USER CODE END EXTI15_10_IRQn 1 */
+}
+
 /**
   * @brief This function handles IPCC RX occupied interrupt.
   */