raise the IMU interrupts priority again for it to work during ranging

lab11 · Aug 9, 2024 · 596cea1 · 596cea1
1 parent 859b930
commit 596cea1
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/software/firmware/src/peripherals/src/imu.c b/software/firmware/src/peripherals/src/imu.c
@@ -292,8 +292,8 @@ void imu_init(void)
    configASSERT0(am_hal_gpio_pinconfig(PIN_IMU_INTERRUPT, am_hal_gpio_pincfg_input));
    configASSERT0(am_hal_gpio_interrupt_control(AM_HAL_GPIO_INT_CHANNEL_0, AM_HAL_GPIO_INT_CTRL_INDV_ENABLE, &imu_interrupt_pin));
    configASSERT0(am_hal_gpio_interrupt_register(AM_HAL_GPIO_INT_CHANNEL_0, PIN_IMU_INTERRUPT, imu_isr, NULL));
-   NVIC_SetPriority(GPIO0_001F_IRQn + GPIO_NUM2IDX(PIN_IMU_INTERRUPT), configMAX_SYSCALL_INTERRUPT_PRIORITY + 2);
-   NVIC_SetPriority(IOMSTR0_IRQn + IMU_I2C_NUMBER, configMAX_SYSCALL_INTERRUPT_PRIORITY + 1);
+   NVIC_SetPriority(GPIO0_001F_IRQn + GPIO_NUM2IDX(PIN_IMU_INTERRUPT), NVIC_configKERNEL_INTERRUPT_PRIORITY - 1);
+   NVIC_SetPriority(IOMSTR0_IRQn + IMU_I2C_NUMBER, NVIC_configKERNEL_INTERRUPT_PRIORITY - 2);
    NVIC_EnableIRQ(GPIO0_001F_IRQn + GPIO_NUM2IDX(PIN_IMU_INTERRUPT));
    NVIC_EnableIRQ(IOMSTR0_IRQn + IMU_I2C_NUMBER);