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fix(drivers/bmi270): correct FIFO watermark byte calculation #27875

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fix(drivers/bmi270): correct FIFO watermark byte calculation #27875

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3 changes: 2 additions & 1 deletion src/drivers/imu/bosch/bmi270/BMI270.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -530,7 +530,8 @@ void BMI270::ConfigureFIFOWatermark(uint8_t samples)
{
// FIFO_WTM: 13 bit FIFO watermark level value
// unit of the fifo watermark is one byte
const uint16_t fifo_watermark_threshold = samples * sizeof(FIFO::Data);
// each combined accel+gyro frame is 1 header byte + 6 gyro bytes + 6 accel bytes
const uint16_t fifo_watermark_threshold = samples * (2 * sizeof(FIFO::Data) + FIFO::HEADER_SIZE);

for (auto &r : _register_cfg) {
if (r.reg == Register::FIFO_WTM_0) {
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1 change: 1 addition & 0 deletions src/drivers/imu/bosch/bmi270/Bosch_BMI270_registers.hpp
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Expand Up @@ -181,6 +181,7 @@ enum ACC_PWR_CTRL_BIT : uint8_t {
namespace FIFO
{
static constexpr size_t SIZE = 1024;
static constexpr size_t HEADER_SIZE = 1; // one header byte precedes each accel+gyro frame

struct Data {
uint8_t x_lsb;
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