[sphand_ros] Infinite loop in I2C resetting

[pazeshun]

Moved from pazeshun/sphand_ros#4

[pazeshun]

Related?
https://ieeexplore.ieee.org/document/10271203
https://ja-support.renesas.com/knowledgeBase/21130188
https://www.reddit.com/r/embedded/comments/rbtdta/i2c_bus_locked_up/?tl=ja

If Vcc or GND is disconnected for a moment, we can recover I2C communication by resetting it just after communication timeout is detected.
But if SDA or SCL is disconnected for a moment, we may not recover it by that method because the I2C target retains partial memory of older communication and is stuck.

[pazeshun]

If I2C devices used in the system are "correctly" designed, the following device should recover I2C communication:
https://www.adafruit.com/product/5159
However, this device alone does not solve our problem because the MCU should detect the communication failure by itself for re-initializing the devices before next communication in case some devices lost their power for a moment.