[BUG] I2C connection is unstable

[Sgw32]

The bug

Just connect STM32 blue pill with MPU6050 sensor. It will work pretty good, but sometimes, after some small shakes, or SteamVR lags it just hangs. Reboot causes USB device disconnect(which is an another issue), but still, after the reboot the connection is not established.

To Reproduce
Steps to reproduce the behavior:

1. Start any SteamVR game with a headset and a high load
2. Shake the headset and rotate it
3. The orientation will hang.
4. Exit SteamVR and OSVR driver
5. Test Serial connection by opening the corresponding port
6. If it opens, but there is no data it means I2C hang.

Proposed solution

Check I2C for timeout errors, and if timeout happen, reset the I2C bus. You can find the implementation of this algorithm in Ardupilot repository, as an example. I have a PoC code which resets the bus at reset, can share it.