Thank you for the info Koepel. Here is some additional info i should have added.
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i only have lock up problem when trying to use DMP on the imu6050. It never locks up when i direcly get values not theough dmp.
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i am using cheap amazon imu6050 (3 pack for like $10usd)
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i only need a sample rate of 30 per second or so but 50 to 100 would not be bad...but not much gain for my purpose.
I will read through the info you privided and see if that can get me somewhere. Btw length of connection for I2c currenly is less than 4 inches but is through 2 wires