fixes

main/hw/mpu9250.c

@@ -16,13 +16,13 @@ esp_err_t mpu9250_read_sensor_data(i2c_master_dev_handle_t dev_handle, int16_t *
         return ret;
 
     // Convert raw data (Big-Endian)
-    accel[0] = (buffer[0] << 8) | buffer[1];  // Accel X
-    accel[1] = (buffer[2] << 8) | buffer[3];  // Accel Y
-    accel[2] = (buffer[4] << 8) | buffer[5];  // Accel Z
-    *temp = (buffer[6] << 8) | buffer[7];     // Temperature
-    gyro[0] = (buffer[8] << 8) | buffer[9];   // Gyro X
-    gyro[1] = (buffer[10] << 8) | buffer[11]; // Gyro Y
-    gyro[2] = (buffer[12] << 8) | buffer[13]; // Gyro Z
+    accel[0] = (((uint16_t)(buffer[0] & 0xFF)) << 8) | (buffer[1] & 0xFF);  // Accel X
+    accel[1] = (((uint16_t)(buffer[2] & 0xFF)) << 8) | (buffer[3] & 0xFF);  // Accel Y
+    accel[2] = (((uint16_t)(buffer[4] & 0xFF)) << 8) | (buffer[5] & 0xFF);  // Accel Z
+    *temp = (((uint16_t)(buffer[6] & 0xFF)) << 8) | (buffer[7] & 0xFF);     // Temperature
+    gyro[0] = (((uint16_t)(buffer[8] & 0xFF)) << 8) | (buffer[9] & 0xFF);;   // Gyro X
+    gyro[1] = (((uint16_t)(buffer[10] & 0xFF)) << 8) | (buffer[11] & 0xFF);; // Gyro Y
+    gyro[2] = (((uint16_t)(buffer[12] & 0xFF)) << 8) | (buffer[13] & 0xFF);; // Gyro Z
 
     return ESP_OK;
 }