diff --git a/src/main/drivers/bus_i2c_hal.c b/src/main/drivers/bus_i2c_hal.c
index 8e96efd438..e434d8c272 100644
--- a/src/main/drivers/bus_i2c_hal.c
+++ b/src/main/drivers/bus_i2c_hal.c
@@ -282,7 +282,6 @@ uint16_t i2cGetErrorCounter(void)
 static void i2cUnstick(IO_t scl, IO_t sda)
 {
     int i;
-    int timeout = 100;
 
     IOHi(scl);
     IOHi(sda);
@@ -290,27 +289,31 @@ static void i2cUnstick(IO_t scl, IO_t sda)
     IOConfigGPIO(scl, IOCFG_OUT_OD);
     IOConfigGPIO(sda, IOCFG_OUT_OD);
 
-    for (i = 0; i < 8; i++) {
+    // Analog Devices AN-686
+    // We need 9 clock pulses + STOP condition
+    for (i = 0; i < 9; i++) {
         // Wait for any clock stretching to finish
+        int timeout = 100;
         while (!IORead(scl) && timeout) {
-            delayMicroseconds(10);
+            delayMicroseconds(5);
             timeout--;
         }
 
         // Pull low
         IOLo(scl); // Set bus low
-        delayMicroseconds(10);
+        delayMicroseconds(5);
         IOHi(scl); // Set bus high
-        delayMicroseconds(10);
+        delayMicroseconds(5);
     }
 
-    // Generate a start then stop condition
-    IOLo(sda); // Set bus data low
-    delayMicroseconds(10);
-    IOLo(scl); // Set bus scl low
-    delayMicroseconds(10);
+    // Generate a stop condition in case there was none
+    IOLo(scl);
+    delayMicroseconds(5);
+    IOLo(sda);
+    delayMicroseconds(5);
+
     IOHi(scl); // Set bus scl high
-    delayMicroseconds(10);
+    delayMicroseconds(5);
     IOHi(sda); // Set bus sda high
 }