From 0a349ee6001e61919905182fc9de367c095ebe23 Mon Sep 17 00:00:00 2001
From: Daniel Belles <daniel.belles@web.de>
Date: Mon, 23 Dec 2013 00:53:34 +0100
Subject: [PATCH] fixed bug in MPU6050_6Axis_MotionApps20.h function uint8_t
 MPU6050::dmpInitialize() which caused an i2c-read error in case of an empty
 fifoCount.

---
 MPU6050-Pi-Demo/MPU6050_6Axis_MotionApps20.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/MPU6050-Pi-Demo/MPU6050_6Axis_MotionApps20.h b/MPU6050-Pi-Demo/MPU6050_6Axis_MotionApps20.h
index 9d40bbf..e14e5f2 100644
--- a/MPU6050-Pi-Demo/MPU6050_6Axis_MotionApps20.h
+++ b/MPU6050-Pi-Demo/MPU6050_6Axis_MotionApps20.h
@@ -414,7 +414,8 @@ uint8_t MPU6050::dmpInitialize() {
 
             printf("Current FIFO count=%d\n", fifoCount);
             DEBUG_PRINTLN(fifoCount);
-            getFIFOBytes(fifoBuffer, fifoCount);
+            if (fifoCount > 0)
+		getFIFOBytes(fifoBuffer, fifoCount);
 
             DEBUG_PRINTLN(F("Setting motion detection threshold to 2..."));
             setMotionDetectionThreshold(2);