diff --git a/libraries/AP_HAL_ChibiOS/I2CDevice.cpp b/libraries/AP_HAL_ChibiOS/I2CDevice.cpp
index d8333328ef..61d871bbcc 100644
--- a/libraries/AP_HAL_ChibiOS/I2CDevice.cpp
+++ b/libraries/AP_HAL_ChibiOS/I2CDevice.cpp
@@ -22,6 +22,7 @@
 
 #include "Scheduler.h"
 #include "hwdef/common/stm32_util.h"
+#include <AP_InternalError/AP_InternalError.h>
 
 #include "ch.h"
 #include "hal.h"
@@ -271,9 +272,14 @@ bool I2CDevice::_transfer(const uint8_t *send, uint32_t send_len,
 
         i2cSoftStop(I2CD[bus.busnum].i2c);
         osalDbgAssert(I2CD[bus.busnum].i2c->state == I2C_STOP, "i2cStart state");
-        
+
         bus.dma_handle->unlock();
         
+        if (I2CD[bus.busnum].i2c->errors & I2C_ISR_LIMIT) {
+            AP::internalerror().error(AP_InternalError::error_t::i2c_isr);
+            break;
+        }
+
         if (ret == MSG_OK) {
             bus.bouncebuffer_finish(send, recv, recv_len);
             i2cReleaseBus(I2CD[bus.busnum].i2c);
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32f47_mcuconf.h b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32f47_mcuconf.h
index c3552fc6f1..e3627924d9 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32f47_mcuconf.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32f47_mcuconf.h
@@ -382,3 +382,8 @@
  * WDG driver system settings.
  */
 #define STM32_WDG_USE_IWDG                  FALSE
+
+// limit ISR count per byte
+#define STM32_I2C_ISR_LIMIT                 6
+
+
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_mcuconf.h b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_mcuconf.h
index 1318db4d36..924abf6d39 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_mcuconf.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_mcuconf.h
@@ -439,3 +439,6 @@
 #define STM32_WDG_USE_IWDG                  FALSE
 
 #define STM32_EXTI_ENHANCED
+
+// limit ISR count per byte
+#define STM32_I2C_ISR_LIMIT                 6