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RTOS/CC2640R2F: I2C stuck the system forever

Part Number: CC2640R2F

Tool/software: TI-RTOS

Hi All,

In my board I use I2C for many slaves, sometimes after running some minutes suddenly the I2C blocked at the Semaphore pend in the I2C driver

"SemaphoreP_pend(&(object->transferComplete), SemaphoreP_WAIT_FOREVER);"  (I2CCC26XX.c)

and stuck the system. I am working in Blocking mode, with 100 kHz speed.

After some research I connected the SDA and the SCL to oscilloscope, then I noticed that sometimes the I2C transfer miss a clock (See the attached photo) 

I have no idea what cause the problem and have no idea how to solve it, each time this happens my system is stuck.