diff --git a/Production/Firmware/chu_pico.uf2 b/Production/Firmware/chu_pico.uf2
index 4bf1518..8b9247c 100644
Binary files a/Production/Firmware/chu_pico.uf2 and b/Production/Firmware/chu_pico.uf2 differ
diff --git a/firmware/src/gp2y0e.h b/firmware/src/gp2y0e.h
index d483112..9aa9612 100644
--- a/firmware/src/gp2y0e.h
+++ b/firmware/src/gp2y0e.h
@@ -14,15 +14,15 @@
 static inline uint16_t gp2y0e_write(i2c_inst_t *i2c_port, uint8_t addr, uint8_t val)
 {
     uint8_t cmd[] = {addr, val};
-    i2c_write_blocking(i2c_port, GP2Y0E_DEF_ADDR, cmd, 2, false);
+    i2c_write_blocking_until(i2c_port, GP2Y0E_DEF_ADDR, cmd, 2, false, time_us_64() + 1000);
 }
 
 static inline uint8_t gp2y0e_dist(i2c_inst_t *i2c_port)
 {
     uint8_t cmd[] = {0x5e};
-    i2c_write_blocking(i2c_port, GP2Y0E_DEF_ADDR, cmd, 1, true);
+    i2c_write_blocking_until(i2c_port, GP2Y0E_DEF_ADDR, cmd, 1, true, time_us_64() + 1000);
     uint8_t data;
-    i2c_read_blocking(i2c_port, GP2Y0E_DEF_ADDR, &data, 1, false);
+    i2c_read_blocking_until(i2c_port, GP2Y0E_DEF_ADDR, &data, 1, false, time_us_64() + 1000);
 
     return data;
 }
@@ -31,9 +31,9 @@ static inline uint8_t gp2y0e_dist(i2c_inst_t *i2c_port)
 static inline uint16_t gp2y0e_dist16(i2c_inst_t *i2c_port)
 {
     uint8_t cmd[] = {0x5e};
-    i2c_write_blocking(i2c_port, GP2Y0E_DEF_ADDR, cmd, 1, true);
+    i2c_write_blocking_until(i2c_port, GP2Y0E_DEF_ADDR, cmd, 1, true, time_us_64() + 1000);
     uint8_t data[2];
-    i2c_read_blocking(i2c_port, GP2Y0E_DEF_ADDR, data, 2, false);
+    i2c_read_blocking_until(i2c_port, GP2Y0E_DEF_ADDR, data, 2, false, time_us_64() + 1000);
 
     return (data[0] << 4) | data[1];
 }
diff --git a/firmware/src/i2c_hub.h b/firmware/src/i2c_hub.h
index f6cd988..ab4e90e 100644
--- a/firmware/src/i2c_hub.h
+++ b/firmware/src/i2c_hub.h
@@ -22,7 +22,7 @@ static inline void i2c_hub_init()
 static inline void i2c_select(i2c_inst_t *i2c_port, uint8_t chn)
 {
     sleep_us(10);
-    i2c_write_blocking(i2c_port, I2C_HUB_ADDR, &chn, 1, false);
+    i2c_write_blocking_until(i2c_port, I2C_HUB_ADDR, &chn, 1, false, time_us_64() + 1000);
     sleep_us(10);
 }