allow disable the data ready interrupts

lab11 · Jun 8, 2024 · 8a542e3 · 8a542e3
1 parent 0a70507
commit 8a542e3
Showing 1 changed file with 11 additions and 1 deletion.
diff --git a/software/firmware/src/peripherals/src/imu.c b/software/firmware/src/peripherals/src/imu.c
@@ -163,11 +163,21 @@ static void enable_data_ready_interrupts(void)
   i2c_write8(BNO055_PAGE_ID_ADDR, 1);
   uint8_t int_msk = i2c_read8(INT_MSK)|(ACC_BSX_DRDY | MAG_DRDY | GYR_DRDY);
   uint8_t int_en = i2c_read8(INT_EN)|(ACC_BSX_DRDY | MAG_DRDY | GYR_DRDY);
-  i2c_write8(INT_MSK, int_msk); 
+  i2c_write8(INT_MSK, int_msk);
   i2c_write8(INT_EN, int_en);
   i2c_write8(BNO055_PAGE_ID_ADDR, 0);
 }
 
+static void disable_data_ready_interrupts(void)
+{
+   i2c_write8(BNO055_PAGE_ID_ADDR, 1);
+   uint8_t int_msk = i2c_read8(INT_MSK) && ~(ACC_BSX_DRDY | MAG_DRDY | GYR_DRDY);
+   uint8_t int_en = i2c_read8(INT_EN) && ~(ACC_BSX_DRDY | MAG_DRDY | GYR_DRDY);
+   i2c_write8(INT_MSK, int_msk);
+   i2c_write8(INT_EN, int_en);
+   i2c_write8(BNO055_PAGE_ID_ADDR, 0);
+}
+
 // Math helper functions -----------------------------------------------------------------------------------------------
 void quaternion_to_euler(bno055_quaternion_t quaternion, bno055_euler_t *euler)
 {