HAL_ChibiOS: add up i2c ISR count

6 years ago · 578e5dfdaa
1 changed files with 3 additions and 0 deletions
--- a/libraries/AP_HAL_ChibiOS/I2CDevice.cpp
+++ b/libraries/AP_HAL_ChibiOS/I2CDevice.cpp
@ -280,6 +280,9 @@ bool I2CDevice::_transfer(const uint8_t *send, uint32_t send_len,
				@@ -280,6 +280,9 @@ bool I2CDevice::_transfer(const uint8_t *send, uint32_t send_len,
            break;
        }

+        AP_HAL::Util::PersistentData &pd = hal.util->persistent_data;
+        pd.i2c_isr_count += I2CD[bus.busnum].i2c->isr_count;
+
        if (ret == MSG_OK) {
            bus.bouncebuffer_finish(send, recv, recv_len);
            i2cReleaseBus(I2CD[bus.busnum].i2c);