Implement KbootCommand_Ping and set set left BOOTLOADER_TIMEOUT_MS back to 100 ms.

right/src/slave_drivers/kboot_driver.c

@@ -5,6 +5,7 @@
 kboot_driver_state_t KbootDriverState;
 
 static uint8_t rxBuffer[MAX_KBOOT_COMMAND_LENGTH];
+static uint8_t pingCommand[] = {0x5a, 0xa6};
 static uint8_t resetCommand[] = {0x5a, 0xa4, 0x04, 0x00, 0x6f, 0x46, 0x0b, 0x00, 0x00, 0x00};
 static uint8_t ackMessage[] = {0x5a, 0xa1};
 
@@ -30,6 +31,28 @@ status_t KbootSlaveDriver_Update(uint8_t kbootInstanceId)
         case KbootCommand_Idle:
             break;
         case KbootCommand_Ping:
+            switch (KbootDriverState.phase) {
+                case 0:
+                    status = tx(pingCommand, sizeof(pingCommand));
+                    KbootDriverState.phase++;
+                    break;
+                case 1:
+                    KbootDriverState.status = Slaves[SlaveId_KbootDriver].previousStatus;
+                    KbootDriverState.phase = KbootDriverState.status == kStatus_Success ? 2 : 0;
+                    return kStatus_Uhk_NoTransfer;
+                case 2:
+                    status = rx(10);
+                    KbootDriverState.phase++;
+                    break;
+                case 3:
+                    KbootDriverState.status = Slaves[SlaveId_KbootDriver].previousStatus;
+                    if (KbootDriverState.status == kStatus_Success) {
+                        KbootDriverState.commandType = KbootCommand_Idle;
+                    } else {
+                        KbootDriverState.phase = 0;
+                        return kStatus_Uhk_NoTransfer;
+                    }
+                }
             break;
         case KbootCommand_Reset:
             switch (KbootDriverState.phase) {

right/src/slave_drivers/kboot_driver.h

@@ -25,6 +25,7 @@
         kboot_command_t commandType;
         uint8_t i2cAddress;
         uint8_t phase;
+        uint32_t status;
     } kboot_driver_state_t;
 
 // Variables:

right/src/slave_scheduler.c

@@ -57,6 +57,8 @@ static void slaveSchedulerCallback(I2C_Type *base, i2c_master_handle_t *handle,
         uhk_slave_t *previousSlave = Slaves + previousSlaveId;
         uhk_slave_t *currentSlave = Slaves + currentSlaveId;
 
+        previousSlave->previousStatus = previousStatus;
+
         if (isFirstIteration) {
             bool wasPreviousSlaveConnected = previousSlave->isConnected;
             previousSlave->isConnected = previousStatus == kStatus_Success;

right/src/slave_scheduler.h

@@ -13,6 +13,7 @@
         SlaveId_RightAddon,
         SlaveId_RightLedDriver,
         SlaveId_LeftLedDriver,
+        SlaveId_KbootDriver,
     } slave_id_t;
 
     typedef void (slave_init_t)(uint8_t);
@@ -25,6 +26,7 @@
         slave_update_t *update;
         slave_disconnect_t *disconnect;
         bool isConnected;
+        status_t previousStatus;
     } uhk_slave_t;
 
     typedef enum {