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[BMI270] Fix bug in data frame size calculation #366

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merged 2 commits into from
Nov 21, 2024
Merged

[BMI270] Fix bug in data frame size calculation #366

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[BMI270] Fix bug in data frame size calculation
jabberrock Nov 20, 2024
a6ce351
Simplify check
jabberrock Nov 21, 2024
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11 changes: 6 additions & 5 deletions src/sensors/softfusion/drivers/bmi270.h
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Original file line number Diff line number Diff line change
Expand Up @@ -405,10 +405,11 @@ struct BMI270 {
}
getFromFifo<uint8_t>(i, read_buffer); // skip 1 byte
} else if ((header & Fifo::ModeMask) == Fifo::DataFrame) {
const uint8_t required_length
= (((header & Fifo::GyrDataBit) >> Fifo::GyrDataBit)
+ ((header & Fifo::AccelDataBit) >> Fifo::AccelDataBit))
* 6;
uint8_t gyro_data_length
= (header & Fifo::GyrDataBit) == Fifo::GyrDataBit ? 6 : 0;
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@l0ud l0ud Nov 21, 2024 •
edited
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it's enough to (header & Fifo::GyrDataBit ? 6 : 0) afaik (should be even less operations)

similar for accel

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Fixed!

uint8_t accel_data_length
= (header & Fifo::AccelDataBit) == Fifo::AccelDataBit ? 6 : 0;
uint8_t required_length = gyro_data_length + accel_data_length;
if (i + required_length > bytes_to_read) {
// incomplete frame, will be re-read next time
break;
Expand Down Expand Up @@ -444,4 +445,4 @@ struct BMI270 {
}
};

} // namespace SlimeVR::Sensors::SoftFusion::Drivers
} // namespace SlimeVR::Sensors::SoftFusion::Drivers