From 4c2889a900abcd10d14881eb066a8cb16260ccd1 Mon Sep 17 00:00:00 2001
From: Shiva Varun <92519151+ShivaVarun-Adicherla@users.noreply.github.com>
Date: Sat, 21 Oct 2023 23:23:55 +0530
Subject: [PATCH] Update MPU6050_DMP6.ino to stop Serial Freezes

---
 Arduino/MPU6050/examples/MPU6050_DMP6/MPU6050_DMP6.ino | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/Arduino/MPU6050/examples/MPU6050_DMP6/MPU6050_DMP6.ino b/Arduino/MPU6050/examples/MPU6050_DMP6/MPU6050_DMP6.ino
index 3ebe2ee6..9b7c7aba 100644
--- a/Arduino/MPU6050/examples/MPU6050_DMP6/MPU6050_DMP6.ino
+++ b/Arduino/MPU6050/examples/MPU6050_DMP6/MPU6050_DMP6.ino
@@ -71,6 +71,12 @@ MPU6050 mpu;
    digital I/O pin 2.
  * ========================================================================= */
 
+/* =========================================================================
+   NOTE: If you are experiencing Freezes in the Serial then make sure you 
+   pull down the AD0 pin and don't leave it floating. Some cheapo boards 
+   now don't do this anymore.
+ * ========================================================================= */
+
 /* =========================================================================
    NOTE: Arduino v1.0.1 with the Leonardo board generates a compile error
    when using Serial.write(buf, len). The Teapot output uses this method.
@@ -167,6 +173,7 @@ void setup() {
     #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
         Wire.begin();
         Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
+        Wire.setWireTimeout(3000, true); //timeout value in uSec. Used to fix Serial Freezing after few secs
     #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
         Fastwire::setup(400, true);
     #endif