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TMS570LC4357: I2C Timing Issues

Part Number: TMS570LC4357
Other Parts Discussed in Thread: HALCOGEN

My company has been having issues with the I2C module on the TMS5704357BZWTQQ1 for the better part of 2 years now. We are attempting to use the chip to communicate over I2C. What happens is the TMS5704357BZWTQQ1 will erratically become stuck when reading a byte from the DRR register or when waiting for the receive ready flag in the status register. When adding an extremely small delay between these 2 operations the issue becomes much less frequent. Has anyone had similar issues with I2C communication on the TMS570LC4357?