From 578e5dfdaa89944cca8cf027821dfc0b1845d733 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sun, 25 Aug 2019 17:46:52 +1000 Subject: [PATCH] HAL_ChibiOS: add up i2c ISR count --- libraries/AP_HAL_ChibiOS/I2CDevice.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/libraries/AP_HAL_ChibiOS/I2CDevice.cpp b/libraries/AP_HAL_ChibiOS/I2CDevice.cpp index 61d871bbcc..b78ce19c05 100644 --- 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, 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);