diff --git a/esp-wifi/CHANGELOG.md b/esp-wifi/CHANGELOG.md
index 9fe985aab..26d84fc33 100644
--- a/esp-wifi/CHANGELOG.md
+++ b/esp-wifi/CHANGELOG.md
@@ -18,6 +18,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Fixed
 
 - Feature `wifi-logs` doesn't break the build anymore (#2117)
+- Fixed a panic when overflow-checks are enabled (#2164)
 
 ### Removed
 
diff --git a/esp-wifi/src/compat/common.rs b/esp-wifi/src/compat/common.rs
index 8ad1df73c..110c5f4fd 100644
--- a/esp-wifi/src/compat/common.rs
+++ b/esp-wifi/src/compat/common.rs
@@ -63,7 +63,7 @@ impl RawQueue {
     }
 
     fn enqueue(&mut self, item: *mut c_void) -> i32 {
-        if (self.current_write - self.current_read) % self.count < self.count {
+        if self.count() < self.count {
             unsafe {
                 let p = self.storage.byte_add(self.item_size * self.current_write);
                 p.copy_from(item as *mut u8, self.item_size);
@@ -77,7 +77,7 @@ impl RawQueue {
     }
 
     fn try_dequeue(&mut self, item: *mut c_void) -> bool {
-        if (self.current_write - self.current_read) % self.count > 0 {
+        if self.count() > 0 {
             unsafe {
                 let p = self.storage.byte_add(self.item_size * self.current_read) as *const c_void;
                 item.copy_from(p, self.item_size);
@@ -90,7 +90,11 @@ impl RawQueue {
     }
 
     fn count(&self) -> usize {
-        (self.current_write - self.current_read) % self.count
+        if self.current_write >= self.current_read {
+            self.current_write - self.current_read
+        } else {
+            self.count - self.current_read + self.current_write
+        }
     }
 }