diff --git a/drivers/staging/iio/imu/inv_mpu/inv_mpu_ring.c b/drivers/staging/iio/imu/inv_mpu/inv_mpu_ring.c
index d8558d75c70d..bfff9c5d48c9 100644
--- a/drivers/staging/iio/imu/inv_mpu/inv_mpu_ring.c
+++ b/drivers/staging/iio/imu/inv_mpu/inv_mpu_ring.c
@@ -1002,7 +1002,7 @@ irqreturn_t inv_read_fifo(int irq, void *dev_id)
 		if (result)
 			goto end_session;
 		fifo_count = be16_to_cpup((__be16 *)(&data[0]));
-		if (fifo_count == 0)
+		if ((fifo_count == 0) && (kfifo_len(&st->timestamps) > 0))
 			goto flush_fifo;
 		if (fifo_count < bytes_per_datum)
 			goto end_session;