PID controllers hierarchy revision

src/BoardI2C.hpp

@@ -1,6 +1,7 @@
 // This is a personal academic project. Dear PVS-Studio, please check it.
 // PVS-Studio Static Code Analyzer for C, C++, C#, and Java: https://pvs-studio.com
 
+#define CONFIG_DISABLE_HAL_LOCKS 0
 #include "Wire.h"
 #include "board_pins.h"
 #include "esp_log.h"
@@ -9,6 +10,7 @@ class BoardI2C : public TwoWire {
   public:
     BoardI2C(volatile bool loop_on_fail = true) : TwoWire(0) {
         if (begin(I2C_SDA_PIN, I2C_SCL_PIN, 100000)) {
+            setTimeOut(50);
             ESP_LOGI("I2CBus", "Bus initialized");
         } else {
             ESP_LOGE("I2CBus", "Failed to initialize the i2c software bus!");