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Fix indexing for multiple-call extraction of accelerometer data #12

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Fix indexing for multiple-call extraction of accelerometer data #12

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9 changes: 5 additions & 4 deletions bmi2.c
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Original file line number Diff line number Diff line change
Expand Up @@ -2820,7 +2820,8 @@ int8_t bmi2_extract_accel(struct bmi2_sens_axes_data *accel_data,

/* Convert word to byte since all sensor enables are in a byte */
data_enable = (uint8_t)(fifo->data_enable >> 8);
for (; (data_index < data_read_length) && (rslt != BMI2_W_FIFO_EMPTY);)
uint16_t end_idx = data_index + data_read_length;
for (; (data_index < end_idx) && (rslt != BMI2_W_FIFO_EMPTY);)
{
/* Unpack frame to get the accelerometer data */
rslt = unpack_accel_frame(accel_data, &data_index, &accel_index, data_enable, fifo, dev);
Expand Down Expand Up @@ -2904,7 +2905,7 @@ int8_t bmi2_extract_gyro(struct bmi2_sens_axes_data *gyro_data,
(*gyro_length) = gyro_index;

/* Update the gyroscope byte index */
fifo->acc_byte_start_idx = data_index;
fifo->gyr_byte_start_idx = data_index;
}
else
{
Expand Down Expand Up @@ -6135,9 +6136,9 @@ static int8_t parse_fifo_accel_len(uint16_t *start_idx,
}

/* If more data is requested than available */
if ((*len) > fifo->length)
if ((*start_idx) + (*len) > fifo->length)
{
(*len) = fifo->length;
(*len) = fifo->length - (*start_idx);
}

return rslt;
Expand Down