From e3d407e14ddea837bf6f8d17820f70c9ce5840b5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?L=C3=A1szl=C3=B3=20Monda?= <laci@monda.hu>
Date: Mon, 18 Sep 2017 04:05:41 +0200
Subject: [PATCH] Assign the I2C and USB interrupts a lower interrupt priority
 than the PIT interrupt. This should make the I2C watchdog always recover
 within the PIT interrupt.

---
 right/src/init_peripherals.c | 11 ++++++++++-
 1 file changed, 10 insertions(+), 1 deletion(-)

diff --git a/right/src/init_peripherals.c b/right/src/init_peripherals.c
index c49e9d1..ec719d8 100644
--- a/right/src/init_peripherals.c
+++ b/right/src/init_peripherals.c
@@ -14,7 +14,15 @@
 #include "eeprom.h"
 #include "microseconds/microseconds_pit.c"
 
-void InitI2c() {
+void InitInterruptPriorities()
+{
+    NVIC_SetPriority(I2C0_IRQn, 1);
+    NVIC_SetPriority(I2C1_IRQn, 1);
+    NVIC_SetPriority(USB0_IRQn, 1);
+}
+
+void InitI2c()
+{
     port_pin_config_t pinConfig = {
         .pullSelect = kPORT_PullUp,
         .openDrainEnable = kPORT_OpenDrainEnable
@@ -53,6 +61,7 @@ void InitI2c() {
 
 void InitPeripherals(void)
 {
+    InitInterruptPriorities();
     InitLedDriver();
     InitResetButton();
     InitMergeSensor();