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Help USB not recognized in my PC after Android 6 update

I am using Nexus 5 and recently updated with android 6. When I tried to connect my PC (having windows 7) via USB, it was showing the notification as "USB Device not recognized". Also I tried to install the latest device driver manually in the device manager, but no luck, it prompted with the message saying "Windows has determined the driver software for your device is up-to-date". Can someone help me in resolving this issue?

Note: USB connection type is set to default "Charging only" in Developer options.
 
Swipe down the notifications window and change it to USB mode (MTP)

Thanks for your reply. I checked the notification window but I didn't get any option to change the USB mode after plugged in the USB. PFA screenshot.
 

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