Same I2C Bus Problem

Libraries
4

Thanks for the answer.
I tried to add Mutex to my code but my pico started to freeze after the code starts running.


void tof(void *param) {
  (void)param;

  Wire.setSDA(4);
  Wire.setSCL(5);
  Wire.begin();
  Serial1.begin(115200);

  digitalWrite(SHT_LOX1, LOW);
  digitalWrite(SHT_LOX2, LOW);
  vTaskDelay(50 / portTICK_PERIOD_MS);

  Serial1.println(F("Both in reset mode...(pins are low)"));
  Serial1.println(F("Starting..."));
  setID();


  while (1) {
    if (xSemaphoreCreateRecursiveMutex() != NULL) {

      if (xSemaphoreTake(mutex, 0) == pdTRUE) {
        oku();
        vTaskDelay(100 / portTICK_PERIOD_MS);
      }
      xSemaphoreGive(mutex);
    } else {
    }
  }
}



void mputask(void *param) {
  (void)param;
  while (1) {
    if (xSemaphoreCreateRecursiveMutex() != NULL) {


      if (xSemaphoreTake(mutex, 0) == pdTRUE) {

        vTaskDelay(500 / portTICK_PERIOD_MS);
        // if programming failed, don't try to do anything
        if (!dmpReady) return;
        if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) {  // Get the Latest packet

#ifdef OUTPUT_READABLE_YAWPITCHROLL
          // display Euler angles in degrees
          mpu.dmpGetQuaternion(&q, fifoBuffer);
          mpu.dmpGetGravity(&gravity, &q);
          mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
          Serial1.print("MPU1\t");
          Serial1.print(ypr[0] * 180 / M_PI);
          Serial1.print("\t");
          Serial1.print(ypr[1] * 180 / M_PI);
          Serial1.print("\t");
          Serial1.println(ypr[2] * 180 / M_PI);
#endif
        }

        /////////////////////////////////////////////////////////////////////////// 2. MPU veri alımı ////////////////////////////////////////////////////////////////////////////
        Serial1.print("\r");
        if (!dmp2Ready) return;
        if (mpu2.dmpGetCurrentFIFOPacket(fifoBuffer2)) {  // Get the Latest packet


#ifdef OUTPUT_READABLE_YAWPITCHROLL
          mpu2.dmpGetQuaternion(&q2, fifoBuffer2);
          mpu2.dmpGetGravity(&gravity2, &q2);
          mpu2.dmpGetYawPitchRoll(ypr2, &q2, &gravity2);
          Serial1.print("MPU2\t");
          Serial1.print(ypr2[0] * 180 / M_PI);
          Serial1.print("\t");
          Serial1.print(ypr2[1] * 180 / M_PI);
          Serial1.print("\t");
          Serial1.println(ypr2[2] * 180 / M_PI);
#endif
        }
      }
      xSemaphoreGive(mutex);
    }
  }
}


void loop() {
  // put your main code here, to run repeatedly:
}