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fix fifo read #40

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fix fifo read #40

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a326c12
Update driver_mpu6050.c
muiseac Nov 20, 2025
ca6ae33
Update driver_mpu6050.c
muiseac Nov 20, 2025
6d75cc5
Update driver_mpu6050.c
muiseac Nov 20, 2025
5b74b79
Update driver_mpu6050.c
muiseac Nov 20, 2025
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92 changes: 75 additions & 17 deletions src/driver_mpu6050.c
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Original file line number Diff line number Diff line change
Expand Up @@ -3954,13 +3954,28 @@ uint8_t mpu6050_read(mpu6050_handle_t *handle, int16_t (*accel_raw)[3], float (*

return 1; /* return error */
}
if (conf != 0x78) /* check the conf */

// assume no slave writes to fifo FIFO_EN = 0bXXXXX000
if (conf&0x07) /* check the conf */
{
handle->debug_print("mpu6050: fifo conf is error.\n"); /* fifo conf is error */

return 6; /* return error */
}

uint8_t accel_fifo_en = (conf & 0x08) >> 3; // accel fifo enabled?
uint8_t zg_fifo_en = (conf & 0x10) >>4; // gyro z axis enabled?
uint8_t yg_fifo_en = (conf & 0x20) >> 5; // gyro y axis enabled?
uint8_t xg_fifo_en = (conf & 0x40) >> 6; // gyro x axis enabled?
uint8_t temp_fifo_en = (conf & 0x80) >> 7; // temp enabled?

uint8_t packet_size = accel_fifo_en*6 + (zg_fifo_en + yg_fifo_en + xg_fifo_en + temp_fifo_en)*2; // packet size to be read from fifo

if(packet_size ==0){
handle->debug_print("mpu6050: divison by zero error, packet_size=0, check fifo configuration or disable fifo.\n");
return 1;

}
res = a_mpu6050_iic_read(handle, MPU6050_REG_FIFO_COUNTH, (uint8_t *)buf, 2); /* read fifo count */
if (res != 0) /* check result */
{
Expand All @@ -3970,9 +3985,9 @@ uint8_t mpu6050_read(mpu6050_handle_t *handle, int16_t (*accel_raw)[3], float (*
}
count = (uint16_t)(((uint16_t)buf[0] << 8) | buf[1]); /* set count */
count = (count < 1024) ? count : 1024; /* just the counter */
count = (count < ((*len) * 12)) ? count : ((*len) * 12); /* just outer buffer size */
count = (count / 12) * 12; /* 12 times */
*len = count / 12; /* set the output length */
count = (count < ((*len) * packet_size)) ? count : ((*len) * packet_size); /* just outer buffer size */
count -= count%packet_size; /* 12 times */
*len = count / packet_size; /* set the output length */
res = a_mpu6050_iic_read(handle, MPU6050_REG_R_W, handle->buf, count); /* read data */
if (res != 0) /* check result */
{
Expand All @@ -3982,19 +3997,62 @@ uint8_t mpu6050_read(mpu6050_handle_t *handle, int16_t (*accel_raw)[3], float (*
}
for (i = 0; i < (*len); i++) /* *len times */
{
accel_raw[i][0] = (int16_t)((uint16_t)handle->buf[i * 12 + 0] << 8) |
handle->buf[i * 12 + 1]; /* set raw accel x */
accel_raw[i][1] = (int16_t)((uint16_t)handle->buf[i * 12 + 2] << 8) |
handle->buf[i * 12 + 3]; /* set raw accel y */
accel_raw[i][2] = (int16_t)((uint16_t)handle->buf[i * 12 + 4] << 8) |
handle->buf[i * 12 + 5]; /* set raw accel z */
gyro_raw[i][0] = (int16_t)((uint16_t)handle->buf[i * 12 + 6] << 8) |
handle->buf[i * 12 + 7]; /* set raw gyro x */
gyro_raw[i][1] = (int16_t)((uint16_t)handle->buf[i * 12 + 8] << 8) |
handle->buf[i * 12 + 9]; /* set raw gyro y */
gyro_raw[i][2] = (int16_t)((uint16_t)handle->buf[i * 12 + 10] << 8) |
handle->buf[i * 12 + 11]; /* set raw gyro z */

uint8_t offset = 0;
uint16_t base_idx = i * packet_size;

if(accel_fifo_en) {

accel_raw[i][0] = (int16_t)((uint16_t)handle->buf[base_idx ] << 8) |
handle->buf[base_idx + 1]; /* set raw accel x */
accel_raw[i][1] = (int16_t)((uint16_t)handle->buf[base_idx+ 2] << 8) |
handle->buf[base_idx + 3]; /* set raw accel y */
accel_raw[i][2] = (int16_t)((uint16_t)handle->buf[base_idx + 4] << 8) |
handle->buf[base_idx + 5]; /* set raw accel z */
offset += 6;

}else {
accel_raw[i][0] = 0; /* set raw accel x */
accel_raw[i][1] = 0; /* set raw accel y */
accel_raw[i][2] = 0; /* set raw accel z */
}
if(temp_fifo_en){
// temperature read from fifo
offset +=2;
}else {


}
if(xg_fifo_en){
gyro_raw[i][0] = (int16_t)((uint16_t)handle->buf[base_idx + offset] << 8) |
handle->buf[base_idx + offset+1]; /* set raw gyro x */
offset +=2;

}else{
gyro_raw[i][0] = 0;
}
if(yg_fifo_en){
gyro_raw[i][1] = (int16_t)((uint16_t)handle->buf[base_idx + offset] << 8) |
handle->buf[base_idx + offset+1]; /* set raw gyro y */
offset +=2;

}else{
gyro_raw[i][1] = 0;
}
if(zg_fifo_en){
gyro_raw[i][2] = (int16_t)((uint16_t)handle->buf[base_idx + offset] << 8) |
handle->buf[base_idx + offset+1]; /* set raw gyro z */
offset +=2;


}else{
gyro_raw[i][2] = 0;
}






if (accel_conf == 0) /* ±2g */
{
accel_g[i][0] = (float)(accel_raw[i][0]) / 16384.0f; /* set accel x */
Expand Down