Implement I2C watchdog for the left half. Disable the watchdog because it causes a hard fault. Don't update the test LED inside of SlaveCommand_SetTestLed due to testing purposes until the watchdog issue gets resolved.

left/build/kds/.project

@@ -81,6 +81,16 @@
 			<type>1</type>
 			<locationURI>PARENT-3-PROJECT_LOC/lib/KSDK_2.0_MKL03Z8xxx4/devices/MKL03Z4/drivers/fsl_i2c.h</locationURI>
 		</link>
+		<link>
+			<name>drivers/fsl_lptmr.c</name>
+			<type>1</type>
+			<locationURI>PARENT-3-PROJECT_LOC/lib/KSDK_2.0_MKL03Z8xxx4/devices/MKL03Z4/drivers/fsl_lptmr.c</locationURI>
+		</link>
+		<link>
+			<name>drivers/fsl_lptmr.h</name>
+			<type>1</type>
+			<locationURI>PARENT-3-PROJECT_LOC/lib/KSDK_2.0_MKL03Z8xxx4/devices/MKL03Z4/drivers/fsl_lptmr.h</locationURI>
+		</link>
 		<link>
 			<name>drivers/fsl_port.h</name>
 			<type>1</type>

left/build/kds/uhk-left debug jlink.launch

@@ -70,13 +70,13 @@
 <stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="uhk-left-debug/uhk-left.elf"/>
 <stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="uhk-left"/>
 <booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
-<stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value=""/>
+<stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="ilg.gnuarmeclipse.managedbuild.cross.config.elf.debug.1792027861"/>
 <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
 <listEntry value="/uhk-left"/>
 </listAttribute>
 <listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
 <listEntry value="4"/>
 </listAttribute>
-<stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;memoryBlockExpressionList context=&quot;Context string&quot;/&gt;&#13;&#10;"/>
+<stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#10;&lt;memoryBlockExpressionList context=&quot;Context string&quot;/&gt;&#10;"/>
 <stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
 </launchConfiguration>

left/src/i2c_watchdog.c

@@ -0,0 +1,36 @@
+#include "fsl_i2c.h"
+#include "i2c.h"
+#include "i2c_watchdog.h"
+#include "test_led.h"
+#include "init_peripherals.h"
+
+static uint32_t prevWatchdogCounter = 0;
+uint32_t I2C_WatchdogInnerCounter;
+volatile uint32_t I2C_WatchdogOuterCounter;
+
+void InitI2cWatchdog(void)
+{
+    lptmr_config_t lptmrConfig;
+    LPTMR_GetDefaultConfig(&lptmrConfig);
+    LPTMR_Init(LPTMR0, &lptmrConfig);
+    LPTMR_SetTimerPeriod(LPTMR0, USEC_TO_COUNT(LPTMR_USEC_COUNT, LPTMR_SOURCE_CLOCK));
+    LPTMR_EnableInterrupts(LPTMR0, kLPTMR_TimerInterruptEnable);
+    EnableIRQ(LPTMR0_IRQn);
+    LPTMR_StartTimer(LPTMR0);
+}
+
+void I2C_WATCHDOG_LPTMR_HANDLER(void)
+{
+    I2C_WatchdogOuterCounter++;
+    TEST_LED_TOGGLE();
+
+    if (I2C_Watchdog == prevWatchdogCounter && I2C_WatchdogOuterCounter>10) { // Restart I2C if there hasn't been any interrupt during 100 ms
+        I2C_WatchdogInnerCounter++;
+        I2C_SlaveDeinit(I2C_BUS_BASEADDR);
+        //InitI2c();
+    }
+
+    prevWatchdogCounter = I2C_Watchdog;
+
+    LPTMR_ClearStatusFlags(LPTMR0, kLPTMR_TimerCompareFlag);
+}

left/src/i2c_watchdog.h

@@ -0,0 +1,19 @@
+#ifndef __I2C_WATCHDOG_H__
+#define __I2C_WATCHDOG_H__
+
+// Includes:
+
+    #include "fsl_lptmr.h"
+
+// Macros:
+
+    #define I2C_WATCHDOG_LPTMR_HANDLER LPTMR0_IRQHandler
+    #define LPTMR_SOURCE_CLOCK CLOCK_GetFreq(kCLOCK_LpoClk)
+    #define LPTMR_USEC_COUNT 100000U
+
+// Functions:
+
+    extern void InitI2cWatchdog(void);
+    extern void RunWatchdog(void);
+
+#endif

left/src/init_peripherals.c

@@ -8,6 +8,7 @@
 #include "i2c.h"
 #include "led_pwm.h"
 #include "slave_protocol_handler.h"
+#include "i2c_watchdog.h"
 
 static void i2cSlaveCallback(I2C_Type *base, i2c_slave_transfer_t *xfer, void *userData)
 {
@@ -34,6 +35,12 @@ static void i2cSlaveCallback(I2C_Type *base, i2c_slave_transfer_t *xfer, void *u
     }
 }
 
+void InitInterruptPriorities()
+{
+    NVIC_SetPriority(I2C0_IRQn, 1);
+    NVIC_SetPriority(TPM1_IRQn, 1);
+}
+
 void InitI2c(void) {
     port_pin_config_t pinConfig = {
         .pullSelect = kPORT_PullUp,
@@ -66,8 +73,10 @@ void InitLedDriver(void) {
 
 void InitPeripherals(void)
 {
+    InitInterruptPriorities();
     InitLedDriver();
     InitTestLed();
     LedPwm_Init();
     InitI2c();
+    //InitI2cWatchdog();
 }

left/src/init_peripherals.h

@@ -10,6 +10,7 @@
 
 // Functions:
 
-    void InitPeripherals(void);
+    extern void InitPeripherals(void);
+    extern void InitI2c(void);
 
 #endif

left/src/slave_protocol_handler.c

@@ -40,7 +40,7 @@ void SlaveProtocolHandler(void)
         case SlaveCommand_SetTestLed:
             SlaveTxSize = 0;
             bool isLedOn = SlaveRxBuffer[1];
-            TEST_LED_SET(isLedOn);
+//            TEST_LED_SET(isLedOn);
             break;
         case SlaveCommand_SetLedPwmBrightness:
             SlaveTxSize = 0;

right/build/kds/uhk-right debug jlink.launch

@@ -77,6 +77,6 @@
 <listAttribute key="org.eclipse.debug.ui.favoriteGroups">
 <listEntry value="org.eclipse.debug.ui.launchGroup.debug"/>
 </listAttribute>
-<stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#13;&#10;&lt;memoryBlockExpressionList context=&quot;Context string&quot;/&gt;&#13;&#10;"/>
+<stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&#10;&lt;memoryBlockExpressionList context=&quot;Context string&quot;/&gt;&#10;"/>
 <stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
 </launchConfiguration>