rc v1.2

Author: ShellAddicted

examples/exampleInterrupts.cpp

@@ -87,19 +87,19 @@ extern "C" void app_main(){
 	}
 
 	while (1){
-		if (bno.interruptFlag == true){
-			//See bno055_interrupts_status_t for more details.
-			bno055_interrupts_status_t ist = bno.getInterruptsStatus();
-			// remember that multiple interrupts can be triggered at the same time. so you shouldn't use 'else if'
-			if (ist.accelAnyMotion == 1){
-				ESP_LOGI(TAG, "AccelAnyMotion Interrupt received.");
-			}
-			if (ist.accelNoSlowMotion == 1){
-				ESP_LOGI(TAG, "accelNoSlowMotion Interrupt received.");
-			}
-			bno.clearInterruptPin(); //don't forget to place this.
-		}
 		try{
+			if (bno.interruptFlag == true){
+				//See bno055_interrupts_status_t for more details.
+				bno055_interrupts_status_t ist = bno.getInterruptsStatus();
+				// remember that multiple interrupts can be triggered at the same time. so you shouldn't use 'else if'
+				if (ist.accelAnyMotion == 1){
+					ESP_LOGI(TAG, "AccelAnyMotion Interrupt received.");
+				}
+				if (ist.accelNoSlowMotion == 1){
+					ESP_LOGI(TAG, "accelNoSlowMotion Interrupt received.");
+				}
+				bno.clearInterruptPin(); //don't forget to place this.
+			}
 			//Calibration 3 = fully calibrated, 0 = uncalibrated
 			bno055_calibration_t cal = bno.getCalibration();
 			bno055_vector_t v = bno.getVectorEuler();

src/BNO055ESP32.cpp

@@ -174,7 +174,6 @@ void BNO055::writeLen(bno055_reg_t reg, uint8_t *data2write, uint8_t len, uint32
 		#ifndef BNO055_DEBUG_OFF
 		ESP_LOG_BUFFER_HEXDUMP(BNO055_LOG_TAG, (const char*) cmd,(len+4), ESP_LOG_DEBUG);
 		#endif
-		free(cmd);
 
 		if (timeoutMS == 0){
 			return; // Do not expect ACK/response
@@ -191,23 +190,27 @@ void BNO055::writeLen(bno055_reg_t reg, uint8_t *data2write, uint8_t len, uint32
 
 			if (data[0] == 0xEE){
 				if (data[1] == 0x01){ //OK
+					free(cmd);
 					break;
 				}
 				else if ((data[1] == 0x07 || data[1] == 0x03 || data[1] == 0x06|| data[1] == 0x0A) && (round < UART_ROUND_NUM)){ // TRY AGAIN
 					continue;
 				}
 				else{ //Error :-(
 					ESP_LOGE(BNO055_LOG_TAG, "(WL) Error: %d.", (int)data[1]);
+					free(cmd);
 					throw getException(data[1]);
 				}
 			}
 
 			else{
+				free(cmd);
 				ESP_LOGE(BNO055_LOG_TAG, "(WL) Error: (BNO55_UNKNOW_ERROR)");
 				throw BNO055UnknowError();
 			}
 		}
 		else{
+			free(cmd);
 			throw BNO055UartTimeout();
 		}
 	}