From d254418e3a7d2b114a370e7f09dbc42a9277859f Mon Sep 17 00:00:00 2001
From: jonathan <jonathantbrouwer@gmail.com>
Date: Fri, 10 Mar 2023 22:34:18 +0100
Subject: [PATCH] Reset fifo when len is very large
---
src/mpu.rs | 5 +++++
1 file changed, 5 insertions(+)
diff --git a/src/mpu.rs b/src/mpu.rs
index 39d6c5e..6a87697 100644
--- a/src/mpu.rs
+++ b/src/mpu.rs
@@ -6,6 +6,7 @@ use crate::once_cell::OnceCell;
use crate::twi::{TwiWrapper, TWI};
use nb::Error::WouldBlock;
use structs::{Accel, Gyro, Quaternion};
+use crate::uart::send_bytes;
#[allow(unused)]
mod config;
@@ -113,6 +114,10 @@ pub fn read_dmp_bytes() -> nb::Result<Quaternion, Error<TwiWrapper>> {
if len < 28 {
return Err(WouldBlock);
}
+ if len > 28 * 5 {
+ mpu.mpu.reset_fifo(twi)?;
+ return Err(WouldBlock);
+ }
// If we got mis-aligned, we skip a packet
if len % 28 != 0 {
--
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