CCS/TM4C123GE6PM: Sensorhub BoosterPack---- compdcm_mpu9150

Tool/software: Code Composer Studio

Hello,

I am working with the functions already done in the example code compdcm_mpu9150 and I put inside the function MPU9150DataAccelGetFloat(&g_sMPU9150Inst, pfAccel, pfAccel + 1, pfAccel + 2); but the interrumption makes the programme to go to FaultISR();

So my question is:

How can I define the interruption to make the programme estable and keep continue with the tasks?

Thanks.

Here I will put the code of that part

static portTASK_FUNCTION( CamposPruebaTask, pvParameters ){
    PARAM_CAMP_MAG campo;
    float *pfAccel, *pfGyro, *pfMag, *pfEulers;
    int ui32CompDCMStarted=0;



    while(1)
    {

        //
        // Clear the flag
        //
        g_vui8I2CDoneFlag = 0;



        //
        // Get floating point version of the Accel Data in m/s^2.
        //
        MPU9150DataAccelGetFloat(&g_sMPU9150Inst, pfAccel, pfAccel + 1,
                                 pfAccel + 2);






        /*
         * Aqui tenemos los "supuestos" valores que será lo que habrá que sustituir
         */
        float valor_1 = rand();
        float valor_2 = rand();
        float valor_3 = rand();

        float valor_4 = rand();
        float valor_5 = rand();

        campo.mag_x = valor_1;
        campo.mag_y = valor_2;
        campo.mag_z = valor_3;

        campo.phi = valor_4;
        campo.teta = valor_5;


            xQueueSend(cola_calibration,&campo, 0); //enviamos los datos para hacerle la correcion


        vTaskDelay(100);
    }


}