fix(bhi160): Don't silently drop errors while reading fifo

Signed-off-by: Rahix <rahix@rahix.de>

epicardium/modules/bhi.c

@@ -351,7 +351,7 @@ static void bhi160_fetch_fifo(void)
 	static uint8_t bhi160_fifo[BHI160_FIFO_SIZE];
 	static size_t start_index = 0;
 
-	int result = 0;
+	BHY_RETURN_FUNCTION_TYPE result = 0;
 	/* Number of bytes left in BHI160's FIFO buffer */
 	uint16_t bytes_left_in_fifo = 1;
 
@@ -361,13 +361,34 @@ static void bhi160_fetch_fifo(void)
 	while (bytes_left_in_fifo) {
 		/* Fill local FIFO buffer with as many bytes as possible */
 		uint16_t bytes_read;
-		bhy_read_fifo(
+		result = bhy_read_fifo(
 			&bhi160_fifo[start_index],
 			BHI160_FIFO_SIZE - start_index,
 			&bytes_read,
 			&bytes_left_in_fifo
 		);
 
+		if (result != BHY_SUCCESS) {
+			/*
+			 * Honestly not sure how we should handle these errors.
+			 *
+			 * Needs more digging to find out how bhy_read_fifo()
+			 * behaves in error situations (a quick glance at the
+			 * code shows that the function might have written
+			 * _somethings_ into our buffer so we can't just retry
+			 * blindly ...)
+			 *
+			 * For now, just abort everything and disable the
+			 * sensor.  Won't cause havoc at least ...
+			 */
+			LOG_ERR("bhi160",
+				"Error while reading fifo: %d.  Disabling.",
+				result);
+
+			bhi160_driver_b0rked = true;
+			break;
+		}
+
 		/* Add the bytes left from the last transfer on top */
 		bytes_read += start_index;
 
@@ -387,6 +408,11 @@ static void bhi160_fetch_fifo(void)
 			if (result == BHY_SUCCESS) {
 				bhi160_handle_packet(data_type, &sensor_data);
 			} else {
+				LOG_WARN(
+					"bhi160",
+					"Error in fifo packet: %d.  Ignoring.",
+					result
+				);
 				break;
 			}
 		}