What I said was that I didn't know if disabling the clock would effect the 'full module reset' you initially asked for, and outside of that there is no 'single' control available. If you need a 'graceful return to idle' from MASTER mode from 'unspecifiable causes' (for safety apps or something???), then you will need to do these things:
If 'I2C clock' is stuck-low, then there is nothing you can do in the I2C realm. You will need to have an external means to reset the I2C peripheral chip(s).
If not, wrest control of the I2C pins, bit-bang 9 clocks@100KHz thence a stop (as above) to clear the data line and return all slaves to 'idle'.
Now clear the 'Master' bit in the Kinetis I2C module.
At this point you might want to clear some 'leftover' flags (unless your following code clears any flag before use), and especially if you're using interrupts in which case clear 'data available' and the 'pending bit' in the NVIC.
