fix(drivers/bmi270): correct FIFO watermark byte calculation#27875
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IgorKolesnikov wants to merge 1 commit into
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fix(drivers/bmi270): correct FIFO watermark byte calculation#27875IgorKolesnikov wants to merge 1 commit into
IgorKolesnikov wants to merge 1 commit into
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FIFO_WTM was computed as samples * sizeof(FIFO::Data), sizing the threshold from a single sensor's 6-byte frame instead of the actual 13-byte combined accel+gyro frame (1 header + 6 gyro + 6 accel) the FIFO actually stores. This made the watermark interrupt fire at the wrong byte count, so the published gyro_fifo rate and sample count no longer matched IMU_GYRO_RATEMAX. E.g. with IMU_GYRO_RATEMAX = 400 (expected: 4 samples per FIFO batch at 1600 Hz ODR -> 400 Hz publish), the driver instead published gyro_fifo at 600 Hz with 3 samples per batch.
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farhangnaderi
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Jul 13, 2026
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second opinion from @dirksavage88 before we merge. |
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FIFO_WTM was computed as samples * sizeof(FIFO::Data), sizing the threshold from a single sensor's 6-byte frame instead of the actual 13-byte combined accel+gyro frame (1 header + 6 gyro + 6 accel) the FIFO actually stores. This made the watermark interrupt fire at the wrong byte count, so the published gyro_fifo rate and sample count no longer matched IMU_GYRO_RATEMAX.
E.g. with IMU_GYRO_RATEMAX = 400 (expected: 4 samples per FIFO batch at 1600 Hz ODR -> 400 Hz publish), the driver instead published gyro_fifo at 600 Hz with 3 samples per batch.