From 8d35f91dbaa76de288a60ab227bc6626dbee1984 Mon Sep 17 00:00:00 2001
From: Paul D'Angio <pcdangio@gmail.com>
Date: Mon, 26 Oct 2020 22:28:42 -0400
Subject: [PATCH] added exception handling in interrupt callback to prevent
unhandled crash
---
driver_mpu9250/src/driver.cpp | 31 ++++++++++++++++++++++++++++---
1 file changed, 28 insertions(+), 3 deletions(-)
diff --git a/driver_mpu9250/src/driver.cpp b/driver_mpu9250/src/driver.cpp
index 6117ad3..c66a86f 100644
--- a/driver_mpu9250/src/driver.cpp
+++ b/driver_mpu9250/src/driver.cpp
@@ -299,7 +299,16 @@ void driver::read_data()
// Burst read accel, temp, and gyro data.
char atg_buffer[14];
- read_mpu9250_registers(driver::register_mpu9250_type::ACCEL_X_HIGH, 14, atg_buffer);
+ try
+ {
+ read_mpu9250_registers(driver::register_mpu9250_type::ACCEL_X_HIGH, 14, atg_buffer);
+ }
+ catch(const std::exception& e)
+ {
+ // Quit before callback. Do not report error in loop.
+ return;
+ }
+
// Parse out accel data.
data.accel_x = driver::m_accel_fsr * static_cast<float>(static_cast<short>(be16toh(*reinterpret_cast<unsigned short*>(&atg_buffer[0])))) / 32768.0f;
@@ -318,7 +327,15 @@ void driver::read_data()
// Burst read magnetometer data.
char magneto_buffer[7];
- read_ak8963_registers(driver::register_ak8963_type::X_LOW, 7, magneto_buffer);
+ try
+ {
+ read_ak8963_registers(driver::register_ak8963_type::X_LOW, 7, magneto_buffer);
+ }
+ catch(const std::exception& e)
+ {
+ // Quit before callback. Do not report error in loop.
+ return;
+ }
// Check if there was a magnetic overflow.
if(magneto_buffer[6] & 0x08)
{
@@ -349,7 +366,15 @@ void driver::read_data()
}
// Read interrupt status register to clear interrupt.
- read_mpu9250_register(driver::register_mpu9250_type::INT_STATUS);
+ try
+ {
+ read_mpu9250_register(driver::register_mpu9250_type::INT_STATUS);
+ }
+ catch(const std::exception& e)
+ {
+ // Quit before callback. Do not report error in loop.
+ return;
+ }
// Initiate the data callback.
driver::m_data_callback(data);
--
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