diff --git a/components/hal/esp32/include/hal/i2c_ll.h b/components/hal/esp32/include/hal/i2c_ll.h
index 848b4d9695..332d86f968 100644
--- a/components/hal/esp32/include/hal/i2c_ll.h
+++ b/components/hal/esp32/include/hal/i2c_ll.h
@@ -486,7 +486,7 @@ static inline void i2c_ll_get_rxfifo_cnt(i2c_dev_t *hw, uint32_t *length)
 __attribute__((always_inline))
 static inline void i2c_ll_get_txfifo_len(i2c_dev_t *hw, uint32_t *length)
 {
-    *length = SOC_I2C_FIFO_LEN - hw->status_reg.tx_fifo_cnt;
+    *length = (hw->status_reg.tx_fifo_cnt >= SOC_I2C_FIFO_LEN) ? 0 : (SOC_I2C_FIFO_LEN - hw->status_reg.tx_fifo_cnt);
 }
 
 /**
diff --git a/components/hal/esp32c2/include/hal/i2c_ll.h b/components/hal/esp32c2/include/hal/i2c_ll.h
index 8c4e210d3b..a2c8d969f5 100644
--- a/components/hal/esp32c2/include/hal/i2c_ll.h
+++ b/components/hal/esp32c2/include/hal/i2c_ll.h
@@ -523,7 +523,7 @@ static inline void i2c_ll_get_rxfifo_cnt(i2c_dev_t *hw, uint32_t *length)
 __attribute__((always_inline))
 static inline void i2c_ll_get_txfifo_len(i2c_dev_t *hw, uint32_t *length)
 {
-    *length = SOC_I2C_FIFO_LEN - hw->sr.txfifo_cnt;
+    *length = (hw->sr.txfifo_cnt >= SOC_I2C_FIFO_LEN) ? 0 : (SOC_I2C_FIFO_LEN - hw->sr.txfifo_cnt);
 }
 
 /**
diff --git a/components/hal/esp32c5/include/hal/i2c_ll.h b/components/hal/esp32c5/include/hal/i2c_ll.h
index 0b6624c198..bf716df643 100644
--- a/components/hal/esp32c5/include/hal/i2c_ll.h
+++ b/components/hal/esp32c5/include/hal/i2c_ll.h
@@ -561,7 +561,7 @@ static inline void i2c_ll_get_rxfifo_cnt(i2c_dev_t *hw, uint32_t *length)
 __attribute__((always_inline))
 static inline void i2c_ll_get_txfifo_len(i2c_dev_t *hw, uint32_t *length)
 {
-    *length = SOC_I2C_FIFO_LEN - hw->sr.txfifo_cnt;
+    *length = (hw->sr.txfifo_cnt >= SOC_I2C_FIFO_LEN) ? 0 : (SOC_I2C_FIFO_LEN - hw->sr.txfifo_cnt);
 }
 
 /**
diff --git a/components/hal/esp32c6/include/hal/i2c_ll.h b/components/hal/esp32c6/include/hal/i2c_ll.h
index dfcd4004a4..2cde500c86 100644
--- a/components/hal/esp32c6/include/hal/i2c_ll.h
+++ b/components/hal/esp32c6/include/hal/i2c_ll.h
@@ -565,7 +565,7 @@ static inline void i2c_ll_get_rxfifo_cnt(i2c_dev_t *hw, uint32_t *length)
 __attribute__((always_inline))
 static inline void i2c_ll_get_txfifo_len(i2c_dev_t *hw, uint32_t *length)
 {
-    *length = SOC_I2C_FIFO_LEN - hw->sr.txfifo_cnt;
+    *length = (hw->sr.txfifo_cnt >= SOC_I2C_FIFO_LEN) ? 0 : (SOC_I2C_FIFO_LEN - hw->sr.txfifo_cnt);
 }
 
 /**
diff --git a/components/hal/esp32c61/include/hal/i2c_ll.h b/components/hal/esp32c61/include/hal/i2c_ll.h
index df98c697f0..c861e3f31d 100644
--- a/components/hal/esp32c61/include/hal/i2c_ll.h
+++ b/components/hal/esp32c61/include/hal/i2c_ll.h
@@ -555,7 +555,7 @@ static inline void i2c_ll_get_rxfifo_cnt(i2c_dev_t *hw, uint32_t *length)
 __attribute__((always_inline))
 static inline void i2c_ll_get_txfifo_len(i2c_dev_t *hw, uint32_t *length)
 {
-    *length = SOC_I2C_FIFO_LEN - hw->sr.txfifo_cnt;
+    *length = (hw->sr.txfifo_cnt >= SOC_I2C_FIFO_LEN) ? 0 : (SOC_I2C_FIFO_LEN - hw->sr.txfifo_cnt);
 }
 
 /**
diff --git a/components/hal/esp32h2/include/hal/i2c_ll.h b/components/hal/esp32h2/include/hal/i2c_ll.h
index 66f3cc4eec..d7f180e5b8 100644
--- a/components/hal/esp32h2/include/hal/i2c_ll.h
+++ b/components/hal/esp32h2/include/hal/i2c_ll.h
@@ -551,7 +551,7 @@ static inline void i2c_ll_get_rxfifo_cnt(i2c_dev_t *hw, uint32_t *length)
 __attribute__((always_inline))
 static inline void i2c_ll_get_txfifo_len(i2c_dev_t *hw, uint32_t *length)
 {
-    *length = SOC_I2C_FIFO_LEN - hw->sr.txfifo_cnt;
+    *length = (hw->sr.txfifo_cnt >= SOC_I2C_FIFO_LEN) ? 0 : (SOC_I2C_FIFO_LEN - hw->sr.txfifo_cnt);
 }
 
 /**
diff --git a/components/hal/esp32h21/include/hal/i2c_ll.h b/components/hal/esp32h21/include/hal/i2c_ll.h
index 33370f5d8a..9668fc43f2 100644
--- a/components/hal/esp32h21/include/hal/i2c_ll.h
+++ b/components/hal/esp32h21/include/hal/i2c_ll.h
@@ -551,7 +551,7 @@ static inline void i2c_ll_get_rxfifo_cnt(i2c_dev_t *hw, uint32_t *length)
 __attribute__((always_inline))
 static inline void i2c_ll_get_txfifo_len(i2c_dev_t *hw, uint32_t *length)
 {
-    *length = SOC_I2C_FIFO_LEN - hw->sr.txfifo_cnt;
+    *length = (hw->sr.txfifo_cnt >= SOC_I2C_FIFO_LEN) ? 0 : (SOC_I2C_FIFO_LEN - hw->sr.txfifo_cnt);
 }
 
 /**
diff --git a/components/hal/esp32p4/include/hal/i2c_ll.h b/components/hal/esp32p4/include/hal/i2c_ll.h
index d0146906fd..76dc337bf2 100644
--- a/components/hal/esp32p4/include/hal/i2c_ll.h
+++ b/components/hal/esp32p4/include/hal/i2c_ll.h
@@ -580,7 +580,7 @@ static inline void i2c_ll_get_rxfifo_cnt(i2c_dev_t *hw, uint32_t *length)
 __attribute__((always_inline))
 static inline void i2c_ll_get_txfifo_len(i2c_dev_t *hw, uint32_t *length)
 {
-    *length = SOC_I2C_FIFO_LEN - hw->sr.txfifo_cnt;
+    *length = (hw->sr.txfifo_cnt >= SOC_I2C_FIFO_LEN) ? 0 : (SOC_I2C_FIFO_LEN - hw->sr.txfifo_cnt);
 }
 
 /**
diff --git a/components/hal/esp32s2/include/hal/i2c_ll.h b/components/hal/esp32s2/include/hal/i2c_ll.h
index bc67c2bdf6..b5d779a187 100644
--- a/components/hal/esp32s2/include/hal/i2c_ll.h
+++ b/components/hal/esp32s2/include/hal/i2c_ll.h
@@ -531,7 +531,7 @@ static inline void i2c_ll_get_rxfifo_cnt(i2c_dev_t *hw, uint32_t *length)
 __attribute__((always_inline))
 static inline void i2c_ll_get_txfifo_len(i2c_dev_t *hw, uint32_t *length)
 {
-    *length = SOC_I2C_FIFO_LEN - hw->status_reg.tx_fifo_cnt;
+    *length = (hw->status_reg.tx_fifo_cnt >= SOC_I2C_FIFO_LEN) ? 0 : (SOC_I2C_FIFO_LEN - hw->status_reg.tx_fifo_cnt);
 }
 
 /**
diff --git a/components/hal/esp32s3/include/hal/i2c_ll.h b/components/hal/esp32s3/include/hal/i2c_ll.h
index 2d215f12be..4f1b91d5c9 100644
--- a/components/hal/esp32s3/include/hal/i2c_ll.h
+++ b/components/hal/esp32s3/include/hal/i2c_ll.h
@@ -612,7 +612,7 @@ static inline void i2c_ll_get_rxfifo_cnt(i2c_dev_t *hw, uint32_t *length)
 __attribute__((always_inline))
 static inline void i2c_ll_get_txfifo_len(i2c_dev_t *hw, uint32_t *length)
 {
-    *length = SOC_I2C_FIFO_LEN - hw->sr.txfifo_cnt;
+    *length = (hw->sr.txfifo_cnt >= SOC_I2C_FIFO_LEN) ? 0 : (SOC_I2C_FIFO_LEN - hw->sr.txfifo_cnt);
 }
 
 /**