From ebb17df2466cfdc5cdc526597bb3666d1c6fd455 Mon Sep 17 00:00:00 2001
From: James Whitlock <james.whitlock@gmail.com>
Date: Tue, 12 Nov 2024 16:46:48 +0000
Subject: [PATCH 1/3] Add support for non-default I2C masters #30

---
 src/F_AK09918.hpp              | 32 ++++++++++++++++----------------
 src/F_AK8963.hpp               | 32 ++++++++++++++++----------------
 src/F_AK8975.hpp               | 32 ++++++++++++++++----------------
 src/F_BMI055.hpp               | 32 ++++++++++++++++----------------
 src/F_BMI055_AK8975.hpp        |  2 +-
 src/F_BMI055_HMC5883L.hpp      |  2 +-
 src/F_BMI055_QMC5883L.hpp      |  2 +-
 src/F_BMI160.hpp               | 32 ++++++++++++++++----------------
 src/F_BMI160_AK8975.hpp        |  2 +-
 src/F_BMI160_HMC5883L.hpp      |  2 +-
 src/F_BMI160_QMC5883L.hpp      |  2 +-
 src/F_BMX055.hpp               | 32 ++++++++++++++++----------------
 src/F_HMC5883L.hpp             | 32 ++++++++++++++++----------------
 src/F_ICM20689.hpp             | 32 ++++++++++++++++----------------
 src/F_ICM20689_AK8975.hpp      |  2 +-
 src/F_ICM20689_HMC5883L.hpp    |  2 +-
 src/F_ICM20689_QMC5883L.hpp    |  2 +-
 src/F_ICM20690.hpp             | 32 ++++++++++++++++----------------
 src/F_ICM20690_AK8975.hpp      |  2 +-
 src/F_ICM20690_HMC5883L.hpp    |  2 +-
 src/F_ICM20690_QMC5883L.hpp    |  2 +-
 src/F_IMU_Generic.hpp          | 32 ++++++++++++++++----------------
 src/F_IMU_Generic_AK8975.hpp   |  2 +-
 src/F_IMU_Generic_HMC5883L.hpp |  2 +-
 src/F_IMU_Generic_QMC5883L.hpp |  2 +-
 src/F_LSM6DS3.hpp              | 32 ++++++++++++++++----------------
 src/F_LSM6DS3_AK8975.hpp       |  2 +-
 src/F_LSM6DS3_HMC5883L.hpp     |  2 +-
 src/F_LSM6DS3_QMC5883L.hpp     |  2 +-
 src/F_LSM6DSL.hpp              | 32 ++++++++++++++++----------------
 src/F_LSM6DSL_AK8975.hpp       |  2 +-
 src/F_LSM6DSL_HMC5883L.hpp     |  2 +-
 src/F_LSM6DSL_QMC5883L.hpp     |  2 +-
 src/F_MPU6050.hpp              | 32 ++++++++++++++++----------------
 src/F_MPU6050_AK8975.hpp       |  2 +-
 src/F_MPU6050_HMC5883L.hpp     |  2 +-
 src/F_MPU6050_QMC5883L.hpp     |  2 +-
 src/F_MPU6500.hpp              | 32 ++++++++++++++++----------------
 src/F_MPU6500_AK8975.hpp       |  2 +-
 src/F_MPU6500_HMC5883L.hpp     |  2 +-
 src/F_MPU6500_QMC5883L.hpp     |  2 +-
 src/F_MPU6515.hpp              | 32 ++++++++++++++++----------------
 src/F_MPU6515_AK8975.hpp       |  2 +-
 src/F_MPU6515_HMC5883L.hpp     |  2 +-
 src/F_MPU6515_QMC5883L.hpp     |  2 +-
 src/F_MPU6886.hpp              | 32 ++++++++++++++++----------------
 src/F_MPU9250.hpp              | 32 ++++++++++++++++----------------
 src/F_MPU9255.hpp              | 32 ++++++++++++++++----------------
 src/F_QMC5883L.hpp             | 32 ++++++++++++++++----------------
 src/F_QMI8658.hpp              | 32 ++++++++++++++++----------------
 src/F_QMI8658_AK09918.hpp      |  2 +-
 src/F_QMI8658_AK8975.hpp       |  2 +-
 src/F_QMI8658_HMC5883L.hpp     |  2 +-
 src/F_QMI8658_QMC5883L.hpp     |  2 +-
 src/IMUBase.hpp                |  4 ++++
 55 files changed, 358 insertions(+), 354 deletions(-)

diff --git a/src/F_AK09918.hpp b/src/F_AK09918.hpp
index 366c37c..cf885bd 100644
--- a/src/F_AK09918.hpp
+++ b/src/F_AK09918.hpp
@@ -58,7 +58,7 @@ enum AK09918_err_type_t {
 
 class AK09918 : public IMUBase {
 public:
-	AK09918() {};
+	explicit AK09918(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -112,32 +112,32 @@ class AK09918 : public IMUBase {
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
-		Wire.beginTransmission(address);  // Initialize the Tx buffer
-		Wire.write(subAddress);           // Put slave register address in Tx buffer
-		Wire.write(data);                 // Put data in Tx buffer
-		Wire.endTransmission();           // Send the Tx buffer
+		wire.beginTransmission(address);  // Initialize the Tx buffer
+		wire.write(subAddress);           // Put slave register address in Tx buffer
+		wire.write(data);                 // Put data in Tx buffer
+		wire.endTransmission();           // Send the Tx buffer
 	}
 
 	uint8_t readByte(uint8_t address, uint8_t subAddress)
 	{
 		uint8_t data; 						   // `data` will store the register data
-		Wire.beginTransmission(address);         // Initialize the Tx buffer
-		Wire.write(subAddress);                  // Put slave register address in Tx buffer
-		Wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
-		Wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
-		data = Wire.read();                      // Fill Rx buffer with result
+		wire.beginTransmission(address);         // Initialize the Tx buffer
+		wire.write(subAddress);                  // Put slave register address in Tx buffer
+		wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
+		wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
+		data = wire.read();                      // Fill Rx buffer with result
 		return data;                             // Return data read from slave register
 	}
 
 	void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t* dest)
 	{
-		Wire.beginTransmission(address);   // Initialize the Tx buffer
-		Wire.write(subAddress);            // Put slave register address in Tx buffer
-		Wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
+		wire.beginTransmission(address);   // Initialize the Tx buffer
+		wire.write(subAddress);            // Put slave register address in Tx buffer
+		wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
 		uint8_t i = 0;
-		Wire.requestFrom(address, count);  // Read bytes from slave register address
-		while (Wire.available()) {
-			dest[i++] = Wire.read();
+		wire.requestFrom(address, count);  // Read bytes from slave register address
+		while (wire.available()) {
+			dest[i++] = wire.read();
 		}         // Put read results in the Rx buffer
 	}
 
diff --git a/src/F_AK8963.hpp b/src/F_AK8963.hpp
index 2fa7d3f..6ec63cc 100644
--- a/src/F_AK8963.hpp
+++ b/src/F_AK8963.hpp
@@ -33,7 +33,7 @@
 
 class AK8963 : public IMUBase {
 public:
-	AK8963() {};
+	explicit AK8963(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -84,32 +84,32 @@ class AK8963 : public IMUBase {
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
-		Wire.beginTransmission(address);  // Initialize the Tx buffer
-		Wire.write(subAddress);           // Put slave register address in Tx buffer
-		Wire.write(data);                 // Put data in Tx buffer
-		Wire.endTransmission();           // Send the Tx buffer
+		wire.beginTransmission(address);  // Initialize the Tx buffer
+		wire.write(subAddress);           // Put slave register address in Tx buffer
+		wire.write(data);                 // Put data in Tx buffer
+		wire.endTransmission();           // Send the Tx buffer
 	}
 
 	uint8_t readByte(uint8_t address, uint8_t subAddress)
 	{
 		uint8_t data; 						   // `data` will store the register data
-		Wire.beginTransmission(address);         // Initialize the Tx buffer
-		Wire.write(subAddress);                  // Put slave register address in Tx buffer
-		Wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
-		Wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
-		data = Wire.read();                      // Fill Rx buffer with result
+		wire.beginTransmission(address);         // Initialize the Tx buffer
+		wire.write(subAddress);                  // Put slave register address in Tx buffer
+		wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
+		wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
+		data = wire.read();                      // Fill Rx buffer with result
 		return data;                             // Return data read from slave register
 	}
 
 	void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t* dest)
 	{
-		Wire.beginTransmission(address);   // Initialize the Tx buffer
-		Wire.write(subAddress);            // Put slave register address in Tx buffer
-		Wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
+		wire.beginTransmission(address);   // Initialize the Tx buffer
+		wire.write(subAddress);            // Put slave register address in Tx buffer
+		wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
 		uint8_t i = 0;
-		Wire.requestFrom(address, count);  // Read bytes from slave register address
-		while (Wire.available()) {
-			dest[i++] = Wire.read();
+		wire.requestFrom(address, count);  // Read bytes from slave register address
+		while (wire.available()) {
+			dest[i++] = wire.read();
 		}         // Put read results in the Rx buffer
 	}
 
diff --git a/src/F_AK8975.hpp b/src/F_AK8975.hpp
index 42b9b11..f41b43a 100644
--- a/src/F_AK8975.hpp
+++ b/src/F_AK8975.hpp
@@ -33,7 +33,7 @@
 
 class AK8975 : public IMUBase {
 public:
-	AK8975() {};
+	explicit AK8975(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -84,32 +84,32 @@ class AK8975 : public IMUBase {
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
-		Wire.beginTransmission(address);  // Initialize the Tx buffer
-		Wire.write(subAddress);           // Put slave register address in Tx buffer
-		Wire.write(data);                 // Put data in Tx buffer
-		Wire.endTransmission();           // Send the Tx buffer
+		wire.beginTransmission(address);  // Initialize the Tx buffer
+		wire.write(subAddress);           // Put slave register address in Tx buffer
+		wire.write(data);                 // Put data in Tx buffer
+		wire.endTransmission();           // Send the Tx buffer
 	}
 
 	uint8_t readByte(uint8_t address, uint8_t subAddress)
 	{
 		uint8_t data; 						   // `data` will store the register data
-		Wire.beginTransmission(address);         // Initialize the Tx buffer
-		Wire.write(subAddress);                  // Put slave register address in Tx buffer
-		Wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
-		Wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
-		data = Wire.read();                      // Fill Rx buffer with result
+		wire.beginTransmission(address);         // Initialize the Tx buffer
+		wire.write(subAddress);                  // Put slave register address in Tx buffer
+		wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
+		wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
+		data = wire.read();                      // Fill Rx buffer with result
 		return data;                             // Return data read from slave register
 	}
 
 	void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t* dest)
 	{
-		Wire.beginTransmission(address);   // Initialize the Tx buffer
-		Wire.write(subAddress);            // Put slave register address in Tx buffer
-		Wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
+		wire.beginTransmission(address);   // Initialize the Tx buffer
+		wire.write(subAddress);            // Put slave register address in Tx buffer
+		wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
 		uint8_t i = 0;
-		Wire.requestFrom(address, count);  // Read bytes from slave register address
-		while (Wire.available()) {
-			dest[i++] = Wire.read();
+		wire.requestFrom(address, count);  // Read bytes from slave register address
+		while (wire.available()) {
+			dest[i++] = wire.read();
 		}         // Put read results in the Rx buffer
 	}
 
diff --git a/src/F_BMI055.hpp b/src/F_BMI055.hpp
index 1906432..400828d 100644
--- a/src/F_BMI055.hpp
+++ b/src/F_BMI055.hpp
@@ -41,7 +41,7 @@
 
 class BMI055 : public IMUBase {
 public:
-	BMI055() {};
+	explicit BMI055(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -97,32 +97,32 @@ class BMI055 : public IMUBase {
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
-		Wire.beginTransmission(address);  // Initialize the Tx buffer
-		Wire.write(subAddress);           // Put slave register address in Tx buffer
-		Wire.write(data);                 // Put data in Tx buffer
-		Wire.endTransmission();           // Send the Tx buffer
+		wire.beginTransmission(address);  // Initialize the Tx buffer
+		wire.write(subAddress);           // Put slave register address in Tx buffer
+		wire.write(data);                 // Put data in Tx buffer
+		wire.endTransmission();           // Send the Tx buffer
 	}
 
 	uint8_t readByte(uint8_t address, uint8_t subAddress)
 	{
 		uint8_t data; 						   // `data` will store the register data
-		Wire.beginTransmission(address);         // Initialize the Tx buffer
-		Wire.write(subAddress);                  // Put slave register address in Tx buffer
-		Wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
-		Wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
-		data = Wire.read();                      // Fill Rx buffer with result
+		wire.beginTransmission(address);         // Initialize the Tx buffer
+		wire.write(subAddress);                  // Put slave register address in Tx buffer
+		wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
+		wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
+		data = wire.read();                      // Fill Rx buffer with result
 		return data;                             // Return data read from slave register
 	}
 
 	void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t* dest)
 	{
-		Wire.beginTransmission(address);   // Initialize the Tx buffer
-		Wire.write(subAddress);            // Put slave register address in Tx buffer
-		Wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
+		wire.beginTransmission(address);   // Initialize the Tx buffer
+		wire.write(subAddress);            // Put slave register address in Tx buffer
+		wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
 		uint8_t i = 0;
-		Wire.requestFrom(address, count);  // Read bytes from slave register address
-		while (Wire.available()) {
-			dest[i++] = Wire.read();
+		wire.requestFrom(address, count);  // Read bytes from slave register address
+		while (wire.available()) {
+			dest[i++] = wire.read();
 		}         // Put read results in the Rx buffer
 	}
 };
diff --git a/src/F_BMI055_AK8975.hpp b/src/F_BMI055_AK8975.hpp
index 6b79eae..7fbc188 100644
--- a/src/F_BMI055_AK8975.hpp
+++ b/src/F_BMI055_AK8975.hpp
@@ -8,7 +8,7 @@
 
 class BMI055_QMC5883L : public IMUBase {
 public:
-	BMI055_QMC5883L() {};
+	explicit BMI055_QMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_BMI055_HMC5883L.hpp b/src/F_BMI055_HMC5883L.hpp
index 362d832..7d6075a 100644
--- a/src/F_BMI055_HMC5883L.hpp
+++ b/src/F_BMI055_HMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class BMI055_HMC5883L : public IMUBase {
 public:
-	BMI055_HMC5883L() {};
+	explicit BMI055_HMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_BMI055_QMC5883L.hpp b/src/F_BMI055_QMC5883L.hpp
index 6b79eae..7fbc188 100644
--- a/src/F_BMI055_QMC5883L.hpp
+++ b/src/F_BMI055_QMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class BMI055_QMC5883L : public IMUBase {
 public:
-	BMI055_QMC5883L() {};
+	explicit BMI055_QMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_BMI160.hpp b/src/F_BMI160.hpp
index 5d58cc0..4b397f1 100644
--- a/src/F_BMI160.hpp
+++ b/src/F_BMI160.hpp
@@ -103,7 +103,7 @@
 
 class BMI160 : public IMUBase {
 public:
-	BMI160() {};
+	explicit BMI160(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -157,32 +157,32 @@ class BMI160 : public IMUBase {
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
-		Wire.beginTransmission(address);  // Initialize the Tx buffer
-		Wire.write(subAddress);           // Put slave register address in Tx buffer
-		Wire.write(data);                 // Put data in Tx buffer
-		Wire.endTransmission();           // Send the Tx buffer
+		wire.beginTransmission(address);  // Initialize the Tx buffer
+		wire.write(subAddress);           // Put slave register address in Tx buffer
+		wire.write(data);                 // Put data in Tx buffer
+		wire.endTransmission();           // Send the Tx buffer
 	}
 
 	uint8_t readByte(uint8_t address, uint8_t subAddress)
 	{
 		uint8_t data; 						   // `data` will store the register data
-		Wire.beginTransmission(address);         // Initialize the Tx buffer
-		Wire.write(subAddress);                  // Put slave register address in Tx buffer
-		Wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
-		Wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
-		data = Wire.read();                      // Fill Rx buffer with result
+		wire.beginTransmission(address);         // Initialize the Tx buffer
+		wire.write(subAddress);                  // Put slave register address in Tx buffer
+		wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
+		wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
+		data = wire.read();                      // Fill Rx buffer with result
 		return data;                             // Return data read from slave register
 	}
 
 	void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t* dest)
 	{
-		Wire.beginTransmission(address);   // Initialize the Tx buffer
-		Wire.write(subAddress);            // Put slave register address in Tx buffer
-		Wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
+		wire.beginTransmission(address);   // Initialize the Tx buffer
+		wire.write(subAddress);            // Put slave register address in Tx buffer
+		wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
 		uint8_t i = 0;
-		Wire.requestFrom(address, count);  // Read bytes from slave register address
-		while (Wire.available()) {
-			dest[i++] = Wire.read();
+		wire.requestFrom(address, count);  // Read bytes from slave register address
+		while (wire.available()) {
+			dest[i++] = wire.read();
 		}         // Put read results in the Rx buffer
 	}
 };
diff --git a/src/F_BMI160_AK8975.hpp b/src/F_BMI160_AK8975.hpp
index 1de5c54..65c6414 100644
--- a/src/F_BMI160_AK8975.hpp
+++ b/src/F_BMI160_AK8975.hpp
@@ -8,7 +8,7 @@
 
 class BMI160_AK8975 : public IMUBase {
 public:
-	BMI160_AK8975() {};
+	explicit BMI160_AK8975(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_BMI160_HMC5883L.hpp b/src/F_BMI160_HMC5883L.hpp
index ff59a9c..1e0ea2a 100644
--- a/src/F_BMI160_HMC5883L.hpp
+++ b/src/F_BMI160_HMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class BMI160_HMC5883L : public IMUBase {
 public:
-	BMI160_HMC5883L() {};
+	explicit BMI160_HMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_BMI160_QMC5883L.hpp b/src/F_BMI160_QMC5883L.hpp
index efc09f2..beece33 100644
--- a/src/F_BMI160_QMC5883L.hpp
+++ b/src/F_BMI160_QMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class BMI160_QMC5883L : public IMUBase {
 public:
-	BMI160_QMC5883L() {};
+	explicit BMI160_QMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_BMX055.hpp b/src/F_BMX055.hpp
index cc4abb9..afd382f 100644
--- a/src/F_BMX055.hpp
+++ b/src/F_BMX055.hpp
@@ -61,7 +61,7 @@
 
 class BMX055 : public IMUBase {
 public:
-	BMX055() {};
+	explicit BMX055(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -121,32 +121,32 @@ class BMX055 : public IMUBase {
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
-		Wire.beginTransmission(address);  // Initialize the Tx buffer
-		Wire.write(subAddress);           // Put slave register address in Tx buffer
-		Wire.write(data);                 // Put data in Tx buffer
-		Wire.endTransmission();           // Send the Tx buffer
+		wire.beginTransmission(address);  // Initialize the Tx buffer
+		wire.write(subAddress);           // Put slave register address in Tx buffer
+		wire.write(data);                 // Put data in Tx buffer
+		wire.endTransmission();           // Send the Tx buffer
 	}
 
 	uint8_t readByte(uint8_t address, uint8_t subAddress)
 	{
 		uint8_t data; 						   // `data` will store the register data
-		Wire.beginTransmission(address);         // Initialize the Tx buffer
-		Wire.write(subAddress);                  // Put slave register address in Tx buffer
-		Wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
-		Wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
-		data = Wire.read();                      // Fill Rx buffer with result
+		wire.beginTransmission(address);         // Initialize the Tx buffer
+		wire.write(subAddress);                  // Put slave register address in Tx buffer
+		wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
+		wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
+		data = wire.read();                      // Fill Rx buffer with result
 		return data;                             // Return data read from slave register
 	}
 
 	void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t* dest)
 	{
-		Wire.beginTransmission(address);   // Initialize the Tx buffer
-		Wire.write(subAddress);            // Put slave register address in Tx buffer
-		Wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
+		wire.beginTransmission(address);   // Initialize the Tx buffer
+		wire.write(subAddress);            // Put slave register address in Tx buffer
+		wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
 		uint8_t i = 0;
-		Wire.requestFrom(address, count);  // Read bytes from slave register address
-		while (Wire.available()) {
-			dest[i++] = Wire.read();
+		wire.requestFrom(address, count);  // Read bytes from slave register address
+		while (wire.available()) {
+			dest[i++] = wire.read();
 		}         // Put read results in the Rx buffer
 	}
 };
diff --git a/src/F_HMC5883L.hpp b/src/F_HMC5883L.hpp
index 7f0b6a3..4447122 100644
--- a/src/F_HMC5883L.hpp
+++ b/src/F_HMC5883L.hpp
@@ -28,7 +28,7 @@
 
 class HMC5883L : public IMUBase {
 public:
-	HMC5883L() {};
+	explicit HMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -76,32 +76,32 @@ class HMC5883L : public IMUBase {
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
-		Wire.beginTransmission(address);  // Initialize the Tx buffer
-		Wire.write(subAddress);           // Put slave register address in Tx buffer
-		Wire.write(data);                 // Put data in Tx buffer
-		Wire.endTransmission();           // Send the Tx buffer
+		wire.beginTransmission(address);  // Initialize the Tx buffer
+		wire.write(subAddress);           // Put slave register address in Tx buffer
+		wire.write(data);                 // Put data in Tx buffer
+		wire.endTransmission();           // Send the Tx buffer
 	}
 
 	uint8_t readByte(uint8_t address, uint8_t subAddress)
 	{
 		uint8_t data; 						   // `data` will store the register data
-		Wire.beginTransmission(address);         // Initialize the Tx buffer
-		Wire.write(subAddress);                  // Put slave register address in Tx buffer
-		Wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
-		Wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
-		data = Wire.read();                      // Fill Rx buffer with result
+		wire.beginTransmission(address);         // Initialize the Tx buffer
+		wire.write(subAddress);                  // Put slave register address in Tx buffer
+		wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
+		wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
+		data = wire.read();                      // Fill Rx buffer with result
 		return data;                             // Return data read from slave register
 	}
 
 	void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t* dest)
 	{
-		Wire.beginTransmission(address);   // Initialize the Tx buffer
-		Wire.write(subAddress);            // Put slave register address in Tx buffer
-		Wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
+		wire.beginTransmission(address);   // Initialize the Tx buffer
+		wire.write(subAddress);            // Put slave register address in Tx buffer
+		wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
 		uint8_t i = 0;
-		Wire.requestFrom(address, count);  // Read bytes from slave register address
-		while (Wire.available()) {
-			dest[i++] = Wire.read();
+		wire.requestFrom(address, count);  // Read bytes from slave register address
+		while (wire.available()) {
+			dest[i++] = wire.read();
 		}         // Put read results in the Rx buffer
 	}
 };
diff --git a/src/F_ICM20689.hpp b/src/F_ICM20689.hpp
index 6ee2655..0277b91 100644
--- a/src/F_ICM20689.hpp
+++ b/src/F_ICM20689.hpp
@@ -84,7 +84,7 @@
 
 class ICM20689 : public IMUBase {
 public:
-	ICM20689() {};
+	explicit ICM20689(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -138,32 +138,32 @@ class ICM20689 : public IMUBase {
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
-		Wire.beginTransmission(address);  // Initialize the Tx buffer
-		Wire.write(subAddress);           // Put slave register address in Tx buffer
-		Wire.write(data);                 // Put data in Tx buffer
-		Wire.endTransmission();           // Send the Tx buffer
+		wire.beginTransmission(address);  // Initialize the Tx buffer
+		wire.write(subAddress);           // Put slave register address in Tx buffer
+		wire.write(data);                 // Put data in Tx buffer
+		wire.endTransmission();           // Send the Tx buffer
 	}
 
 	uint8_t readByte(uint8_t address, uint8_t subAddress)
 	{
 		uint8_t data; 						   // `data` will store the register data
-		Wire.beginTransmission(address);         // Initialize the Tx buffer
-		Wire.write(subAddress);                  // Put slave register address in Tx buffer
-		Wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
-		Wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
-		data = Wire.read();                      // Fill Rx buffer with result
+		wire.beginTransmission(address);         // Initialize the Tx buffer
+		wire.write(subAddress);                  // Put slave register address in Tx buffer
+		wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
+		wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
+		data = wire.read();                      // Fill Rx buffer with result
 		return data;                             // Return data read from slave register
 	}
 
 	void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t* dest)
 	{
-		Wire.beginTransmission(address);   // Initialize the Tx buffer
-		Wire.write(subAddress);            // Put slave register address in Tx buffer
-		Wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
+		wire.beginTransmission(address);   // Initialize the Tx buffer
+		wire.write(subAddress);            // Put slave register address in Tx buffer
+		wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
 		uint8_t i = 0;
-		Wire.requestFrom(address, count);  // Read bytes from slave register address
-		while (Wire.available()) {
-			dest[i++] = Wire.read();
+		wire.requestFrom(address, count);  // Read bytes from slave register address
+		while (wire.available()) {
+			dest[i++] = wire.read();
 		}         // Put read results in the Rx buffer
 	}
 
diff --git a/src/F_ICM20689_AK8975.hpp b/src/F_ICM20689_AK8975.hpp
index 423218b..3d51886 100644
--- a/src/F_ICM20689_AK8975.hpp
+++ b/src/F_ICM20689_AK8975.hpp
@@ -8,7 +8,7 @@
 
 class ICM20689_AK8975 : public IMUBase {
 public:
-	ICM20689_AK8975() {};
+	explicit ICM20689_AK8975(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_ICM20689_HMC5883L.hpp b/src/F_ICM20689_HMC5883L.hpp
index 04a8088..2b89d5e 100644
--- a/src/F_ICM20689_HMC5883L.hpp
+++ b/src/F_ICM20689_HMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class ICM20689_HMC5883L : public IMUBase {
 public:
-	ICM20689_HMC5883L() {};
+	explicit ICM20689_HMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_ICM20689_QMC5883L.hpp b/src/F_ICM20689_QMC5883L.hpp
index c62dfc7..e5e73d7 100644
--- a/src/F_ICM20689_QMC5883L.hpp
+++ b/src/F_ICM20689_QMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class ICM20689_QMC5883L : public IMUBase {
 public:
-	ICM20689_QMC5883L() {};
+	explicit ICM20689_QMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_ICM20690.hpp b/src/F_ICM20690.hpp
index 977f2d9..333a01f 100644
--- a/src/F_ICM20690.hpp
+++ b/src/F_ICM20690.hpp
@@ -84,7 +84,7 @@
 
 class ICM20690 : public IMUBase {
 public:
-	ICM20690() {};
+	explicit ICM20690(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -137,32 +137,32 @@ class ICM20690 : public IMUBase {
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
-		Wire.beginTransmission(address);  // Initialize the Tx buffer
-		Wire.write(subAddress);           // Put slave register address in Tx buffer
-		Wire.write(data);                 // Put data in Tx buffer
-		Wire.endTransmission();           // Send the Tx buffer
+		wire.beginTransmission(address);  // Initialize the Tx buffer
+		wire.write(subAddress);           // Put slave register address in Tx buffer
+		wire.write(data);                 // Put data in Tx buffer
+		wire.endTransmission();           // Send the Tx buffer
 	}
 
 	uint8_t readByte(uint8_t address, uint8_t subAddress)
 	{
 		uint8_t data; 						   // `data` will store the register data
-		Wire.beginTransmission(address);         // Initialize the Tx buffer
-		Wire.write(subAddress);                  // Put slave register address in Tx buffer
-		Wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
-		Wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
-		data = Wire.read();                      // Fill Rx buffer with result
+		wire.beginTransmission(address);         // Initialize the Tx buffer
+		wire.write(subAddress);                  // Put slave register address in Tx buffer
+		wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
+		wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
+		data = wire.read();                      // Fill Rx buffer with result
 		return data;                             // Return data read from slave register
 	}
 
 	void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t* dest)
 	{
-		Wire.beginTransmission(address);   // Initialize the Tx buffer
-		Wire.write(subAddress);            // Put slave register address in Tx buffer
-		Wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
+		wire.beginTransmission(address);   // Initialize the Tx buffer
+		wire.write(subAddress);            // Put slave register address in Tx buffer
+		wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
 		uint8_t i = 0;
-		Wire.requestFrom(address, count);  // Read bytes from slave register address
-		while (Wire.available()) {
-			dest[i++] = Wire.read();
+		wire.requestFrom(address, count);  // Read bytes from slave register address
+		while (wire.available()) {
+			dest[i++] = wire.read();
 		}         // Put read results in the Rx buffer
 	}
 
diff --git a/src/F_ICM20690_AK8975.hpp b/src/F_ICM20690_AK8975.hpp
index 31ca3d2..466a961 100644
--- a/src/F_ICM20690_AK8975.hpp
+++ b/src/F_ICM20690_AK8975.hpp
@@ -8,7 +8,7 @@
 
 class ICM20690_AK8975 : public IMUBase {
 public:
-	ICM20690_AK8975() {};
+	explicit ICM20690_AK8975(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_ICM20690_HMC5883L.hpp b/src/F_ICM20690_HMC5883L.hpp
index 9722aa9..ac692a2 100644
--- a/src/F_ICM20690_HMC5883L.hpp
+++ b/src/F_ICM20690_HMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class ICM20690_HMC5883L : public IMUBase {
 public:
-	ICM20690_HMC5883L() {};
+	explicit ICM20690_HMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_ICM20690_QMC5883L.hpp b/src/F_ICM20690_QMC5883L.hpp
index 894a8f6..92c3570 100644
--- a/src/F_ICM20690_QMC5883L.hpp
+++ b/src/F_ICM20690_QMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class ICM20690_QMC5883L : public IMUBase {
 public:
-	ICM20690_QMC5883L() {};
+	explicit ICM20690_QMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_IMU_Generic.hpp b/src/F_IMU_Generic.hpp
index ba5ed23..91698ac 100644
--- a/src/F_IMU_Generic.hpp
+++ b/src/F_IMU_Generic.hpp
@@ -161,7 +161,7 @@
 
 class IMU_Generic : public IMUBase {
 public:
-	IMU_Generic() {};
+	explicit IMU_Generic(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -217,32 +217,32 @@ class IMU_Generic : public IMUBase {
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
-		Wire.beginTransmission(address);  // Initialize the Tx buffer
-		Wire.write(subAddress);           // Put slave register address in Tx buffer
-		Wire.write(data);                 // Put data in Tx buffer
-		Wire.endTransmission();           // Send the Tx buffer
+		wire.beginTransmission(address);  // Initialize the Tx buffer
+		wire.write(subAddress);           // Put slave register address in Tx buffer
+		wire.write(data);                 // Put data in Tx buffer
+		wire.endTransmission();           // Send the Tx buffer
 	}
 
 	uint8_t readByte(uint8_t address, uint8_t subAddress)
 	{
 		uint8_t data; 						   // `data` will store the register data
-		Wire.beginTransmission(address);         // Initialize the Tx buffer
-		Wire.write(subAddress);                  // Put slave register address in Tx buffer
-		Wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
-		Wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
-		data = Wire.read();                      // Fill Rx buffer with result
+		wire.beginTransmission(address);         // Initialize the Tx buffer
+		wire.write(subAddress);                  // Put slave register address in Tx buffer
+		wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
+		wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
+		data = wire.read();                      // Fill Rx buffer with result
 		return data;                             // Return data read from slave register
 	}
 
 	void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t* dest)
 	{
-		Wire.beginTransmission(address);   // Initialize the Tx buffer
-		Wire.write(subAddress);            // Put slave register address in Tx buffer
-		Wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
+		wire.beginTransmission(address);   // Initialize the Tx buffer
+		wire.write(subAddress);            // Put slave register address in Tx buffer
+		wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
 		uint8_t i = 0;
-		Wire.requestFrom(address, count);  // Read bytes from slave register address
-		while (Wire.available()) {
-			dest[i++] = Wire.read();
+		wire.requestFrom(address, count);  // Read bytes from slave register address
+		while (wire.available()) {
+			dest[i++] = wire.read();
 		}         // Put read results in the Rx buffer
 	}
 
diff --git a/src/F_IMU_Generic_AK8975.hpp b/src/F_IMU_Generic_AK8975.hpp
index 532f213..03a6077 100644
--- a/src/F_IMU_Generic_AK8975.hpp
+++ b/src/F_IMU_Generic_AK8975.hpp
@@ -8,7 +8,7 @@
 
 class IMU_Generic_AK8975 : public IMUBase {
 public:
-	IMU_Generic_AK8975() {};
+	explicit IMU_Generic_AK8975(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_IMU_Generic_HMC5883L.hpp b/src/F_IMU_Generic_HMC5883L.hpp
index 7f255d7..c8c3410 100644
--- a/src/F_IMU_Generic_HMC5883L.hpp
+++ b/src/F_IMU_Generic_HMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class IMU_Generic_HMC5883L : public IMUBase {
 public:
-	IMU_Generic_HMC5883L() {};
+	explicit IMU_Generic_HMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_IMU_Generic_QMC5883L.hpp b/src/F_IMU_Generic_QMC5883L.hpp
index e4a2685..c12adc0 100644
--- a/src/F_IMU_Generic_QMC5883L.hpp
+++ b/src/F_IMU_Generic_QMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class IMU_Generic_QMC5883L : public IMUBase {
 public:
-	IMU_Generic_QMC5883L() {};
+	explicit IMU_Generic_QMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_LSM6DS3.hpp b/src/F_LSM6DS3.hpp
index ae0a59d..c3c3f28 100644
--- a/src/F_LSM6DS3.hpp
+++ b/src/F_LSM6DS3.hpp
@@ -54,7 +54,7 @@
 
 class LSM6DS3 : public IMUBase {
 public:
-	LSM6DS3() {};
+	explicit LSM6DS3(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -107,32 +107,32 @@ class LSM6DS3 : public IMUBase {
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
-		Wire.beginTransmission(address);  // Initialize the Tx buffer
-		Wire.write(subAddress);           // Put slave register address in Tx buffer
-		Wire.write(data);                 // Put data in Tx buffer
-		Wire.endTransmission();           // Send the Tx buffer
+		wire.beginTransmission(address);  // Initialize the Tx buffer
+		wire.write(subAddress);           // Put slave register address in Tx buffer
+		wire.write(data);                 // Put data in Tx buffer
+		wire.endTransmission();           // Send the Tx buffer
 	}
 
 	uint8_t readByte(uint8_t address, uint8_t subAddress)
 	{
 		uint8_t data; 						   // `data` will store the register data
-		Wire.beginTransmission(address);         // Initialize the Tx buffer
-		Wire.write(subAddress);                  // Put slave register address in Tx buffer
-		Wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
-		Wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
-		data = Wire.read();                      // Fill Rx buffer with result
+		wire.beginTransmission(address);         // Initialize the Tx buffer
+		wire.write(subAddress);                  // Put slave register address in Tx buffer
+		wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
+		wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
+		data = wire.read();                      // Fill Rx buffer with result
 		return data;                             // Return data read from slave register
 	}
 
 	void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t* dest)
 	{
-		Wire.beginTransmission(address);   // Initialize the Tx buffer
-		Wire.write(subAddress);            // Put slave register address in Tx buffer
-		Wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
+		wire.beginTransmission(address);   // Initialize the Tx buffer
+		wire.write(subAddress);            // Put slave register address in Tx buffer
+		wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
 		uint8_t i = 0;
-		Wire.requestFrom(address, count);  // Read bytes from slave register address
-		while (Wire.available()) {
-			dest[i++] = Wire.read();
+		wire.requestFrom(address, count);  // Read bytes from slave register address
+		while (wire.available()) {
+			dest[i++] = wire.read();
 		}         // Put read results in the Rx buffer
 	}
 };
diff --git a/src/F_LSM6DS3_AK8975.hpp b/src/F_LSM6DS3_AK8975.hpp
index 1371c4a..4844fd1 100644
--- a/src/F_LSM6DS3_AK8975.hpp
+++ b/src/F_LSM6DS3_AK8975.hpp
@@ -8,7 +8,7 @@
 
 class LSM6DS3_AK8975 : public IMUBase {
 public:
-	LSM6DS3_AK8975() {};
+	explicit LSM6DS3_AK8975(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_LSM6DS3_HMC5883L.hpp b/src/F_LSM6DS3_HMC5883L.hpp
index 9c61243..2057316 100644
--- a/src/F_LSM6DS3_HMC5883L.hpp
+++ b/src/F_LSM6DS3_HMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class LSM6DS3_HMC5883L : public IMUBase {
 public:
-	LSM6DS3_HMC5883L() {};
+	explicit LSM6DS3_HMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_LSM6DS3_QMC5883L.hpp b/src/F_LSM6DS3_QMC5883L.hpp
index 7ebfb48..7e00648 100644
--- a/src/F_LSM6DS3_QMC5883L.hpp
+++ b/src/F_LSM6DS3_QMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class LSM6DS3_QMC5883L : public IMUBase {
 public:
-	LSM6DS3_QMC5883L() {};
+	explicit LSM6DS3_QMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_LSM6DSL.hpp b/src/F_LSM6DSL.hpp
index ad14fbd..f708a3b 100644
--- a/src/F_LSM6DSL.hpp
+++ b/src/F_LSM6DSL.hpp
@@ -55,7 +55,7 @@
 
 class LSM6DSL : public IMUBase {
 public:
-	LSM6DSL() {};
+	explicit LSM6DSL(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -108,32 +108,32 @@ class LSM6DSL : public IMUBase {
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
-		Wire.beginTransmission(address);  // Initialize the Tx buffer
-		Wire.write(subAddress);           // Put slave register address in Tx buffer
-		Wire.write(data);                 // Put data in Tx buffer
-		Wire.endTransmission();           // Send the Tx buffer
+		wire.beginTransmission(address);  // Initialize the Tx buffer
+		wire.write(subAddress);           // Put slave register address in Tx buffer
+		wire.write(data);                 // Put data in Tx buffer
+		wire.endTransmission();           // Send the Tx buffer
 	}
 
 	uint8_t readByte(uint8_t address, uint8_t subAddress)
 	{
 		uint8_t data; 						   // `data` will store the register data
-		Wire.beginTransmission(address);         // Initialize the Tx buffer
-		Wire.write(subAddress);                  // Put slave register address in Tx buffer
-		Wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
-		Wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
-		data = Wire.read();                      // Fill Rx buffer with result
+		wire.beginTransmission(address);         // Initialize the Tx buffer
+		wire.write(subAddress);                  // Put slave register address in Tx buffer
+		wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
+		wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
+		data = wire.read();                      // Fill Rx buffer with result
 		return data;                             // Return data read from slave register
 	}
 
 	void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t* dest)
 	{
-		Wire.beginTransmission(address);   // Initialize the Tx buffer
-		Wire.write(subAddress);            // Put slave register address in Tx buffer
-		Wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
+		wire.beginTransmission(address);   // Initialize the Tx buffer
+		wire.write(subAddress);            // Put slave register address in Tx buffer
+		wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
 		uint8_t i = 0;
-		Wire.requestFrom(address, count);  // Read bytes from slave register address
-		while (Wire.available()) {
-			dest[i++] = Wire.read();
+		wire.requestFrom(address, count);  // Read bytes from slave register address
+		while (wire.available()) {
+			dest[i++] = wire.read();
 		}         // Put read results in the Rx buffer
 	}
 };
diff --git a/src/F_LSM6DSL_AK8975.hpp b/src/F_LSM6DSL_AK8975.hpp
index 94915f2..fb7cb40 100644
--- a/src/F_LSM6DSL_AK8975.hpp
+++ b/src/F_LSM6DSL_AK8975.hpp
@@ -8,7 +8,7 @@
 
 class LSM6DSL_AK8975 : public IMUBase {
 public:
-	LSM6DSL_AK8975() {};
+	explicit LSM6DSL_AK8975(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_LSM6DSL_HMC5883L.hpp b/src/F_LSM6DSL_HMC5883L.hpp
index 556d8ee..35713b9 100644
--- a/src/F_LSM6DSL_HMC5883L.hpp
+++ b/src/F_LSM6DSL_HMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class LSM6DSL_HMC5883L : public IMUBase {
 public:
-	LSM6DSL_HMC5883L() {};
+	explicit LSM6DSL_HMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_LSM6DSL_QMC5883L.hpp b/src/F_LSM6DSL_QMC5883L.hpp
index 40f908c..bacdb3b 100644
--- a/src/F_LSM6DSL_QMC5883L.hpp
+++ b/src/F_LSM6DSL_QMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class LSM6DSL_QMC5883L : public IMUBase {
 public:
-	LSM6DSL_QMC5883L() {};
+	explicit LSM6DSL_QMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_MPU6050.hpp b/src/F_MPU6050.hpp
index c62266e..998c0ae 100644
--- a/src/F_MPU6050.hpp
+++ b/src/F_MPU6050.hpp
@@ -70,7 +70,7 @@
 
 class MPU6050 : public IMUBase {
 public:
-	MPU6050() {};
+	explicit MPU6050(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -123,32 +123,32 @@ class MPU6050 : public IMUBase {
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
-		Wire.beginTransmission(address);  // Initialize the Tx buffer
-		Wire.write(subAddress);           // Put slave register address in Tx buffer
-		Wire.write(data);                 // Put data in Tx buffer
-		Wire.endTransmission();           // Send the Tx buffer
+		wire.beginTransmission(address);  // Initialize the Tx buffer
+		wire.write(subAddress);           // Put slave register address in Tx buffer
+		wire.write(data);                 // Put data in Tx buffer
+		wire.endTransmission();           // Send the Tx buffer
 	}
 
 	uint8_t readByte(uint8_t address, uint8_t subAddress)
 	{
 		uint8_t data; 						   // `data` will store the register data
-		Wire.beginTransmission(address);         // Initialize the Tx buffer
-		Wire.write(subAddress);                  // Put slave register address in Tx buffer
-		Wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
-		Wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
-		data = Wire.read();                      // Fill Rx buffer with result
+		wire.beginTransmission(address);         // Initialize the Tx buffer
+		wire.write(subAddress);                  // Put slave register address in Tx buffer
+		wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
+		wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
+		data = wire.read();                      // Fill Rx buffer with result
 		return data;                             // Return data read from slave register
 	}
 
 	void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t* dest)
 	{
-		Wire.beginTransmission(address);   // Initialize the Tx buffer
-		Wire.write(subAddress);            // Put slave register address in Tx buffer
-		Wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
+		wire.beginTransmission(address);   // Initialize the Tx buffer
+		wire.write(subAddress);            // Put slave register address in Tx buffer
+		wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
 		uint8_t i = 0;
-		Wire.requestFrom(address, count);  // Read bytes from slave register address
-		while (Wire.available()) {
-			dest[i++] = Wire.read();
+		wire.requestFrom(address, count);  // Read bytes from slave register address
+		while (wire.available()) {
+			dest[i++] = wire.read();
 		}         // Put read results in the Rx buffer
 	}
 
diff --git a/src/F_MPU6050_AK8975.hpp b/src/F_MPU6050_AK8975.hpp
index ce21d23..f560d1c 100644
--- a/src/F_MPU6050_AK8975.hpp
+++ b/src/F_MPU6050_AK8975.hpp
@@ -8,7 +8,7 @@
 
 class MPU6050_AK8975 : public IMUBase {
 public:
-	MPU6050_AK8975() {};
+	explicit MPU6050_AK8975(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_MPU6050_HMC5883L.hpp b/src/F_MPU6050_HMC5883L.hpp
index 49b47c6..13ce176 100644
--- a/src/F_MPU6050_HMC5883L.hpp
+++ b/src/F_MPU6050_HMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class MPU6050_HMC5883L : public IMUBase {
 public:
-	MPU6050_HMC5883L() {};
+	explicit MPU6050_HMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_MPU6050_QMC5883L.hpp b/src/F_MPU6050_QMC5883L.hpp
index 811a82d..5516041 100644
--- a/src/F_MPU6050_QMC5883L.hpp
+++ b/src/F_MPU6050_QMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class MPU6050_QMC5883L : public IMUBase {
 public:
-	MPU6050_QMC5883L() {};
+	explicit MPU6050_QMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_MPU6500.hpp b/src/F_MPU6500.hpp
index 7756d3c..4c3e0ed 100644
--- a/src/F_MPU6500.hpp
+++ b/src/F_MPU6500.hpp
@@ -140,7 +140,7 @@
 
 class MPU6500 : public IMUBase {
 public:
-	MPU6500() {};
+	explicit MPU6500(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -193,32 +193,32 @@ class MPU6500 : public IMUBase {
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
-		Wire.beginTransmission(address);  // Initialize the Tx buffer
-		Wire.write(subAddress);           // Put slave register address in Tx buffer
-		Wire.write(data);                 // Put data in Tx buffer
-		Wire.endTransmission();           // Send the Tx buffer
+		wire.beginTransmission(address);  // Initialize the Tx buffer
+		wire.write(subAddress);           // Put slave register address in Tx buffer
+		wire.write(data);                 // Put data in Tx buffer
+		wire.endTransmission();           // Send the Tx buffer
 	}
 
 	uint8_t readByte(uint8_t address, uint8_t subAddress)
 	{
 		uint8_t data; 						   // `data` will store the register data
-		Wire.beginTransmission(address);         // Initialize the Tx buffer
-		Wire.write(subAddress);                  // Put slave register address in Tx buffer
-		Wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
-		Wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
-		data = Wire.read();                      // Fill Rx buffer with result
+		wire.beginTransmission(address);         // Initialize the Tx buffer
+		wire.write(subAddress);                  // Put slave register address in Tx buffer
+		wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
+		wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
+		data = wire.read();                      // Fill Rx buffer with result
 		return data;                             // Return data read from slave register
 	}
 
 	void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t* dest)
 	{
-		Wire.beginTransmission(address);   // Initialize the Tx buffer
-		Wire.write(subAddress);            // Put slave register address in Tx buffer
-		Wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
+		wire.beginTransmission(address);   // Initialize the Tx buffer
+		wire.write(subAddress);            // Put slave register address in Tx buffer
+		wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
 		uint8_t i = 0;
-		Wire.requestFrom(address, count);  // Read bytes from slave register address
-		while (Wire.available()) {
-			dest[i++] = Wire.read();
+		wire.requestFrom(address, count);  // Read bytes from slave register address
+		while (wire.available()) {
+			dest[i++] = wire.read();
 		}         // Put read results in the Rx buffer
 	}
 
diff --git a/src/F_MPU6500_AK8975.hpp b/src/F_MPU6500_AK8975.hpp
index 7eec836..ee07b11 100644
--- a/src/F_MPU6500_AK8975.hpp
+++ b/src/F_MPU6500_AK8975.hpp
@@ -8,7 +8,7 @@
 
 class MPU6500_AK8975 : public IMUBase {
 public:
-	MPU6500_AK8975() {};
+	explicit MPU6500_AK8975(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_MPU6500_HMC5883L.hpp b/src/F_MPU6500_HMC5883L.hpp
index 0f315f8..24a689b 100644
--- a/src/F_MPU6500_HMC5883L.hpp
+++ b/src/F_MPU6500_HMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class MPU6500_HMC5883L : public IMUBase {
 public:
-	MPU6500_HMC5883L() {};
+	explicit MPU6500_HMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_MPU6500_QMC5883L.hpp b/src/F_MPU6500_QMC5883L.hpp
index 7b629b3..b6641da 100644
--- a/src/F_MPU6500_QMC5883L.hpp
+++ b/src/F_MPU6500_QMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class MPU6500_QMC5883L : public IMUBase {
 public:
-	MPU6500_QMC5883L() {};
+	explicit MPU6500_QMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_MPU6515.hpp b/src/F_MPU6515.hpp
index 63e5484..f01893b 100644
--- a/src/F_MPU6515.hpp
+++ b/src/F_MPU6515.hpp
@@ -140,7 +140,7 @@
 
 class MPU6515 : public IMUBase {
 public:
-	MPU6515() {};
+	explicit MPU6515(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -193,32 +193,32 @@ class MPU6515 : public IMUBase {
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
-		Wire.beginTransmission(address);  // Initialize the Tx buffer
-		Wire.write(subAddress);           // Put slave register address in Tx buffer
-		Wire.write(data);                 // Put data in Tx buffer
-		Wire.endTransmission();           // Send the Tx buffer
+		wire.beginTransmission(address);  // Initialize the Tx buffer
+		wire.write(subAddress);           // Put slave register address in Tx buffer
+		wire.write(data);                 // Put data in Tx buffer
+		wire.endTransmission();           // Send the Tx buffer
 	}
 
 	uint8_t readByte(uint8_t address, uint8_t subAddress)
 	{
 		uint8_t data; 						   // `data` will store the register data
-		Wire.beginTransmission(address);         // Initialize the Tx buffer
-		Wire.write(subAddress);                  // Put slave register address in Tx buffer
-		Wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
-		Wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
-		data = Wire.read();                      // Fill Rx buffer with result
+		wire.beginTransmission(address);         // Initialize the Tx buffer
+		wire.write(subAddress);                  // Put slave register address in Tx buffer
+		wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
+		wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
+		data = wire.read();                      // Fill Rx buffer with result
 		return data;                             // Return data read from slave register
 	}
 
 	void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t* dest)
 	{
-		Wire.beginTransmission(address);   // Initialize the Tx buffer
-		Wire.write(subAddress);            // Put slave register address in Tx buffer
-		Wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
+		wire.beginTransmission(address);   // Initialize the Tx buffer
+		wire.write(subAddress);            // Put slave register address in Tx buffer
+		wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
 		uint8_t i = 0;
-		Wire.requestFrom(address, count);  // Read bytes from slave register address
-		while (Wire.available()) {
-			dest[i++] = Wire.read();
+		wire.requestFrom(address, count);  // Read bytes from slave register address
+		while (wire.available()) {
+			dest[i++] = wire.read();
 		}         // Put read results in the Rx buffer
 	}
 
diff --git a/src/F_MPU6515_AK8975.hpp b/src/F_MPU6515_AK8975.hpp
index 88dcb8b..f17abcb 100644
--- a/src/F_MPU6515_AK8975.hpp
+++ b/src/F_MPU6515_AK8975.hpp
@@ -8,7 +8,7 @@
 
 class MPU6515_AK8975 : public IMUBase {
 public:
-	MPU6515_AK8975() {};
+	explicit MPU6515_AK8975(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_MPU6515_HMC5883L.hpp b/src/F_MPU6515_HMC5883L.hpp
index aaad875..6102c18 100644
--- a/src/F_MPU6515_HMC5883L.hpp
+++ b/src/F_MPU6515_HMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class MPU6515_HMC5883L : public IMUBase {
 public:
-	MPU6515_HMC5883L() {};
+	explicit MPU6515_HMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_MPU6515_QMC5883L.hpp b/src/F_MPU6515_QMC5883L.hpp
index e8a68f7..d5659ee 100644
--- a/src/F_MPU6515_QMC5883L.hpp
+++ b/src/F_MPU6515_QMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class MPU6515_QMC5883L : public IMUBase {
 public:
-	MPU6515_QMC5883L() {};
+	explicit MPU6515_QMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_MPU6886.hpp b/src/F_MPU6886.hpp
index 05c95d7..95d4452 100644
--- a/src/F_MPU6886.hpp
+++ b/src/F_MPU6886.hpp
@@ -140,7 +140,7 @@
 
 class MPU6886 : public IMUBase {
 public:
-	MPU6886() {};
+	explicit MPU6886(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -193,32 +193,32 @@ class MPU6886 : public IMUBase {
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
-		Wire.beginTransmission(address);  // Initialize the Tx buffer
-		Wire.write(subAddress);           // Put slave register address in Tx buffer
-		Wire.write(data);                 // Put data in Tx buffer
-		Wire.endTransmission();           // Send the Tx buffer
+		wire.beginTransmission(address);  // Initialize the Tx buffer
+		wire.write(subAddress);           // Put slave register address in Tx buffer
+		wire.write(data);                 // Put data in Tx buffer
+		wire.endTransmission();           // Send the Tx buffer
 	}
 
 	uint8_t readByte(uint8_t address, uint8_t subAddress)
 	{
 		uint8_t data; 						   // `data` will store the register data
-		Wire.beginTransmission(address);         // Initialize the Tx buffer
-		Wire.write(subAddress);                  // Put slave register address in Tx buffer
-		Wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
-		Wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
-		data = Wire.read();                      // Fill Rx buffer with result
+		wire.beginTransmission(address);         // Initialize the Tx buffer
+		wire.write(subAddress);                  // Put slave register address in Tx buffer
+		wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
+		wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
+		data = wire.read();                      // Fill Rx buffer with result
 		return data;                             // Return data read from slave register
 	}
 
 	void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t* dest)
 	{
-		Wire.beginTransmission(address);   // Initialize the Tx buffer
-		Wire.write(subAddress);            // Put slave register address in Tx buffer
-		Wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
+		wire.beginTransmission(address);   // Initialize the Tx buffer
+		wire.write(subAddress);            // Put slave register address in Tx buffer
+		wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
 		uint8_t i = 0;
-		Wire.requestFrom(address, count);  // Read bytes from slave register address
-		while (Wire.available()) {
-			dest[i++] = Wire.read();
+		wire.requestFrom(address, count);  // Read bytes from slave register address
+		while (wire.available()) {
+			dest[i++] = wire.read();
 		}         // Put read results in the Rx buffer
 	}
 
diff --git a/src/F_MPU9250.hpp b/src/F_MPU9250.hpp
index 709fa45..e485ec8 100644
--- a/src/F_MPU9250.hpp
+++ b/src/F_MPU9250.hpp
@@ -142,7 +142,7 @@
 
 class MPU9250 : public IMUBase {
 public:
-	MPU9250() {};
+	explicit MPU9250(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -202,32 +202,32 @@ class MPU9250 : public IMUBase {
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
-		Wire.beginTransmission(address);  // Initialize the Tx buffer
-		Wire.write(subAddress);           // Put slave register address in Tx buffer
-		Wire.write(data);                 // Put data in Tx buffer
-		Wire.endTransmission();           // Send the Tx buffer
+		wire.beginTransmission(address);  // Initialize the Tx buffer
+		wire.write(subAddress);           // Put slave register address in Tx buffer
+		wire.write(data);                 // Put data in Tx buffer
+		wire.endTransmission();           // Send the Tx buffer
 	}
 
 	uint8_t readByte(uint8_t address, uint8_t subAddress)
 	{
 		uint8_t data; 						   // `data` will store the register data
-		Wire.beginTransmission(address);         // Initialize the Tx buffer
-		Wire.write(subAddress);                  // Put slave register address in Tx buffer
-		Wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
-		Wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
-		data = Wire.read();                      // Fill Rx buffer with result
+		wire.beginTransmission(address);         // Initialize the Tx buffer
+		wire.write(subAddress);                  // Put slave register address in Tx buffer
+		wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
+		wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
+		data = wire.read();                      // Fill Rx buffer with result
 		return data;                             // Return data read from slave register
 	}
 
 	void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t* dest)
 	{
-		Wire.beginTransmission(address);   // Initialize the Tx buffer
-		Wire.write(subAddress);            // Put slave register address in Tx buffer
-		Wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
+		wire.beginTransmission(address);   // Initialize the Tx buffer
+		wire.write(subAddress);            // Put slave register address in Tx buffer
+		wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
 		uint8_t i = 0;
-		Wire.requestFrom(address, count);  // Read bytes from slave register address
-		while (Wire.available()) {
-			dest[i++] = Wire.read();
+		wire.requestFrom(address, count);  // Read bytes from slave register address
+		while (wire.available()) {
+			dest[i++] = wire.read();
 		}         // Put read results in the Rx buffer
 	}
 
diff --git a/src/F_MPU9255.hpp b/src/F_MPU9255.hpp
index 9701bb9..85f31bd 100644
--- a/src/F_MPU9255.hpp
+++ b/src/F_MPU9255.hpp
@@ -142,7 +142,7 @@
 
 class MPU9255 : public IMUBase {
 public:
-	MPU9255() {};
+	explicit MPU9255(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -202,32 +202,32 @@ class MPU9255 : public IMUBase {
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
-		Wire.beginTransmission(address);  // Initialize the Tx buffer
-		Wire.write(subAddress);           // Put slave register address in Tx buffer
-		Wire.write(data);                 // Put data in Tx buffer
-		Wire.endTransmission();           // Send the Tx buffer
+		wire.beginTransmission(address);  // Initialize the Tx buffer
+		wire.write(subAddress);           // Put slave register address in Tx buffer
+		wire.write(data);                 // Put data in Tx buffer
+		wire.endTransmission();           // Send the Tx buffer
 	}
 
 	uint8_t readByte(uint8_t address, uint8_t subAddress)
 	{
 		uint8_t data; 						   // `data` will store the register data
-		Wire.beginTransmission(address);         // Initialize the Tx buffer
-		Wire.write(subAddress);                  // Put slave register address in Tx buffer
-		Wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
-		Wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
-		data = Wire.read();                      // Fill Rx buffer with result
+		wire.beginTransmission(address);         // Initialize the Tx buffer
+		wire.write(subAddress);                  // Put slave register address in Tx buffer
+		wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
+		wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
+		data = wire.read();                      // Fill Rx buffer with result
 		return data;                             // Return data read from slave register
 	}
 
 	void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t* dest)
 	{
-		Wire.beginTransmission(address);   // Initialize the Tx buffer
-		Wire.write(subAddress);            // Put slave register address in Tx buffer
-		Wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
+		wire.beginTransmission(address);   // Initialize the Tx buffer
+		wire.write(subAddress);            // Put slave register address in Tx buffer
+		wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
 		uint8_t i = 0;
-		Wire.requestFrom(address, count);  // Read bytes from slave register address
-		while (Wire.available()) {
-			dest[i++] = Wire.read();
+		wire.requestFrom(address, count);  // Read bytes from slave register address
+		while (wire.available()) {
+			dest[i++] = wire.read();
 		}         // Put read results in the Rx buffer
 	}
 
diff --git a/src/F_QMC5883L.hpp b/src/F_QMC5883L.hpp
index 528d818..7a5beed 100644
--- a/src/F_QMC5883L.hpp
+++ b/src/F_QMC5883L.hpp
@@ -28,7 +28,7 @@
 
 class QMC5883L : public IMUBase {
 public:
-	QMC5883L() {};
+	explicit QMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -81,32 +81,32 @@ class QMC5883L : public IMUBase {
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
-		Wire.beginTransmission(address);  // Initialize the Tx buffer
-		Wire.write(subAddress);           // Put slave register address in Tx buffer
-		Wire.write(data);                 // Put data in Tx buffer
-		Wire.endTransmission();           // Send the Tx buffer
+		wire.beginTransmission(address);  // Initialize the Tx buffer
+		wire.write(subAddress);           // Put slave register address in Tx buffer
+		wire.write(data);                 // Put data in Tx buffer
+		wire.endTransmission();           // Send the Tx buffer
 	}
 
 	uint8_t readByte(uint8_t address, uint8_t subAddress)
 	{
 		uint8_t data; 						   // `data` will store the register data
-		Wire.beginTransmission(address);         // Initialize the Tx buffer
-		Wire.write(subAddress);                  // Put slave register address in Tx buffer
-		Wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
-		Wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
-		data = Wire.read();                      // Fill Rx buffer with result
+		wire.beginTransmission(address);         // Initialize the Tx buffer
+		wire.write(subAddress);                  // Put slave register address in Tx buffer
+		wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
+		wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
+		data = wire.read();                      // Fill Rx buffer with result
 		return data;                             // Return data read from slave register
 	}
 
 	void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t* dest)
 	{
-		Wire.beginTransmission(address);   // Initialize the Tx buffer
-		Wire.write(subAddress);            // Put slave register address in Tx buffer
-		Wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
+		wire.beginTransmission(address);   // Initialize the Tx buffer
+		wire.write(subAddress);            // Put slave register address in Tx buffer
+		wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
 		uint8_t i = 0;
-		Wire.requestFrom(address, count);  // Read bytes from slave register address
-		while (Wire.available()) {
-			dest[i++] = Wire.read();
+		wire.requestFrom(address, count);  // Read bytes from slave register address
+		while (wire.available()) {
+			dest[i++] = wire.read();
 		}         // Put read results in the Rx buffer
 	}
 };
diff --git a/src/F_QMI8658.hpp b/src/F_QMI8658.hpp
index aa1c768..5c917de 100644
--- a/src/F_QMI8658.hpp
+++ b/src/F_QMI8658.hpp
@@ -59,7 +59,7 @@
 
 class QMI8658 : public IMUBase {
 public:
-	QMI8658() {};
+	explicit QMI8658(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -114,32 +114,32 @@ class QMI8658 : public IMUBase {
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
-		Wire.beginTransmission(address);  // Initialize the Tx buffer
-		Wire.write(subAddress);           // Put slave register address in Tx buffer
-		Wire.write(data);                 // Put data in Tx buffer
-		Wire.endTransmission();           // Send the Tx buffer
+		wire.beginTransmission(address);  // Initialize the Tx buffer
+		wire.write(subAddress);           // Put slave register address in Tx buffer
+		wire.write(data);                 // Put data in Tx buffer
+		wire.endTransmission();           // Send the Tx buffer
 	}
 
 	uint8_t readByte(uint8_t address, uint8_t subAddress)
 	{
 		uint8_t data; 						   // `data` will store the register data
-		Wire.beginTransmission(address);         // Initialize the Tx buffer
-		Wire.write(subAddress);                  // Put slave register address in Tx buffer
-		Wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
-		Wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
-		data = Wire.read();                      // Fill Rx buffer with result
+		wire.beginTransmission(address);         // Initialize the Tx buffer
+		wire.write(subAddress);                  // Put slave register address in Tx buffer
+		wire.endTransmission(false);             // Send the Tx buffer, but send a restart to keep connection alive
+		wire.requestFrom(address, (uint8_t)1);  // Read one byte from slave register address
+		data = wire.read();                      // Fill Rx buffer with result
 		return data;                             // Return data read from slave register
 	}
 
 	void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t* dest)
 	{
-		Wire.beginTransmission(address);   // Initialize the Tx buffer
-		Wire.write(subAddress);            // Put slave register address in Tx buffer
-		Wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
+		wire.beginTransmission(address);   // Initialize the Tx buffer
+		wire.write(subAddress);            // Put slave register address in Tx buffer
+		wire.endTransmission(false);       // Send the Tx buffer, but send a restart to keep connection alive
 		uint8_t i = 0;
-		Wire.requestFrom(address, count);  // Read bytes from slave register address
-		while (Wire.available()) {
-			dest[i++] = Wire.read();
+		wire.requestFrom(address, count);  // Read bytes from slave register address
+		while (wire.available()) {
+			dest[i++] = wire.read();
 		}         // Put read results in the Rx buffer
 	}
 };
diff --git a/src/F_QMI8658_AK09918.hpp b/src/F_QMI8658_AK09918.hpp
index a4c7ed0..38ae393 100644
--- a/src/F_QMI8658_AK09918.hpp
+++ b/src/F_QMI8658_AK09918.hpp
@@ -8,7 +8,7 @@
 
 class QMI8658_AK09918 : public IMUBase {
 public:
-	QMI8658_AK09918() {};
+	explicit QMI8658_AK09918(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_QMI8658_AK8975.hpp b/src/F_QMI8658_AK8975.hpp
index 7ba084a..7f12f70 100644
--- a/src/F_QMI8658_AK8975.hpp
+++ b/src/F_QMI8658_AK8975.hpp
@@ -8,7 +8,7 @@
 
 class QMI8658_AK8975 : public IMUBase {
 public:
-	QMI8658_AK8975() {};
+	explicit QMI8658_AK8975(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_QMI8658_HMC5883L.hpp b/src/F_QMI8658_HMC5883L.hpp
index 9e253ef..705b460 100644
--- a/src/F_QMI8658_HMC5883L.hpp
+++ b/src/F_QMI8658_HMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class QMI8658_HMC5883L : public IMUBase {
 public:
-	QMI8658_HMC5883L() {};
+	explicit QMI8658_HMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_QMI8658_QMC5883L.hpp b/src/F_QMI8658_QMC5883L.hpp
index b202020..e1cac47 100644
--- a/src/F_QMI8658_QMC5883L.hpp
+++ b/src/F_QMI8658_QMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class QMI8658_QMC5883L : public IMUBase {
 public:
-	QMI8658_QMC5883L() {};
+	explicit QMI8658_QMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/IMUBase.hpp b/src/IMUBase.hpp
index 26089ea..aa1e76a 100644
--- a/src/IMUBase.hpp
+++ b/src/IMUBase.hpp
@@ -76,6 +76,10 @@ class IMUBase {
 	virtual String IMUManufacturer(){
 		return "Unknown";
 	}
+
+protected:
+	IMUBase(TwoWire& wire) : wire(wire) {}
+	TwoWire& wire;
 };
 
 #endif /* _F_IMUBase_H_ */
\ No newline at end of file

From 983194055b9fbda8927bd8577d54961f5bb8e969 Mon Sep 17 00:00:00 2001
From: James Whitlock <james.whitlock@gmail.com>
Date: Fri, 15 Nov 2024 20:37:04 +0000
Subject: [PATCH 2/3] Move TwoWire reference into individual drivers.

---
 src/F_AK09918.hpp              | 3 ++-
 src/F_AK8963.hpp               | 3 ++-
 src/F_AK8975.hpp               | 3 ++-
 src/F_BMI055.hpp               | 3 ++-
 src/F_BMI055_AK8975.hpp        | 2 +-
 src/F_BMI055_HMC5883L.hpp      | 2 +-
 src/F_BMI055_QMC5883L.hpp      | 2 +-
 src/F_BMI160.hpp               | 3 ++-
 src/F_BMI160_AK8975.hpp        | 2 +-
 src/F_BMI160_HMC5883L.hpp      | 2 +-
 src/F_BMI160_QMC5883L.hpp      | 2 +-
 src/F_BMX055.hpp               | 3 ++-
 src/F_HMC5883L.hpp             | 4 +++-
 src/F_ICM20689.hpp             | 3 ++-
 src/F_ICM20689_AK8975.hpp      | 2 +-
 src/F_ICM20689_HMC5883L.hpp    | 2 +-
 src/F_ICM20689_QMC5883L.hpp    | 2 +-
 src/F_ICM20690.hpp             | 3 ++-
 src/F_ICM20690_AK8975.hpp      | 2 +-
 src/F_ICM20690_HMC5883L.hpp    | 2 +-
 src/F_ICM20690_QMC5883L.hpp    | 2 +-
 src/F_IMU_Generic.hpp          | 3 ++-
 src/F_IMU_Generic_AK8975.hpp   | 2 +-
 src/F_IMU_Generic_HMC5883L.hpp | 2 +-
 src/F_IMU_Generic_QMC5883L.hpp | 2 +-
 src/F_LSM6DS3.hpp              | 3 ++-
 src/F_LSM6DS3_AK8975.hpp       | 2 +-
 src/F_LSM6DS3_HMC5883L.hpp     | 2 +-
 src/F_LSM6DS3_QMC5883L.hpp     | 2 +-
 src/F_LSM6DSL.hpp              | 3 ++-
 src/F_LSM6DSL_AK8975.hpp       | 2 +-
 src/F_LSM6DSL_HMC5883L.hpp     | 2 +-
 src/F_LSM6DSL_QMC5883L.hpp     | 2 +-
 src/F_MPU6050.hpp              | 3 ++-
 src/F_MPU6050_AK8975.hpp       | 2 +-
 src/F_MPU6050_HMC5883L.hpp     | 2 +-
 src/F_MPU6050_QMC5883L.hpp     | 2 +-
 src/F_MPU6500.hpp              | 3 ++-
 src/F_MPU6500_AK8975.hpp       | 2 +-
 src/F_MPU6500_HMC5883L.hpp     | 2 +-
 src/F_MPU6500_QMC5883L.hpp     | 2 +-
 src/F_MPU6515.hpp              | 3 ++-
 src/F_MPU6515_AK8975.hpp       | 2 +-
 src/F_MPU6515_HMC5883L.hpp     | 2 +-
 src/F_MPU6515_QMC5883L.hpp     | 2 +-
 src/F_MPU6886.hpp              | 3 ++-
 src/F_MPU9250.hpp              | 3 ++-
 src/F_MPU9255.hpp              | 3 ++-
 src/F_QMC5883L.hpp             | 4 +++-
 src/F_QMI8658.hpp              | 4 +++-
 src/F_QMI8658_AK09918.hpp      | 2 +-
 src/F_QMI8658_AK8975.hpp       | 2 +-
 src/F_QMI8658_HMC5883L.hpp     | 2 +-
 src/F_QMI8658_QMC5883L.hpp     | 2 +-
 54 files changed, 77 insertions(+), 54 deletions(-)

diff --git a/src/F_AK09918.hpp b/src/F_AK09918.hpp
index cf885bd..12d63d3 100644
--- a/src/F_AK09918.hpp
+++ b/src/F_AK09918.hpp
@@ -58,7 +58,7 @@ enum AK09918_err_type_t {
 
 class AK09918 : public IMUBase {
 public:
-	explicit AK09918(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit AK09918(TwoWire& wire = Wire) : wire(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -109,6 +109,7 @@ class AK09918 : public IMUBase {
 	calData calibration;
 	uint8_t IMUAddress;
 
+	TwoWire& wire;
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
diff --git a/src/F_AK8963.hpp b/src/F_AK8963.hpp
index 6ec63cc..29b156c 100644
--- a/src/F_AK8963.hpp
+++ b/src/F_AK8963.hpp
@@ -33,7 +33,7 @@
 
 class AK8963 : public IMUBase {
 public:
-	explicit AK8963(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit AK8963(TwoWire& wire = Wire) : wire(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -81,6 +81,7 @@ class AK8963 : public IMUBase {
 	calData calibration;
 	uint8_t IMUAddress;
 
+	TwoWire& wire;
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
diff --git a/src/F_AK8975.hpp b/src/F_AK8975.hpp
index f41b43a..4f382a8 100644
--- a/src/F_AK8975.hpp
+++ b/src/F_AK8975.hpp
@@ -33,7 +33,7 @@
 
 class AK8975 : public IMUBase {
 public:
-	explicit AK8975(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit AK8975(TwoWire& wire = Wire) : wire(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -81,6 +81,7 @@ class AK8975 : public IMUBase {
 	calData calibration;
 	uint8_t IMUAddress;
 
+	TwoWire& wire;
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
diff --git a/src/F_BMI055.hpp b/src/F_BMI055.hpp
index 400828d..93dfc56 100644
--- a/src/F_BMI055.hpp
+++ b/src/F_BMI055.hpp
@@ -41,7 +41,7 @@
 
 class BMI055 : public IMUBase {
 public:
-	explicit BMI055(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit BMI055(TwoWire& wire = Wire) : wire(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -94,6 +94,7 @@ class BMI055 : public IMUBase {
 	uint8_t AccelAddress;
 	uint8_t GyroAddress;
 
+	TwoWire& wire;
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
diff --git a/src/F_BMI055_AK8975.hpp b/src/F_BMI055_AK8975.hpp
index 7fbc188..e3426d0 100644
--- a/src/F_BMI055_AK8975.hpp
+++ b/src/F_BMI055_AK8975.hpp
@@ -8,7 +8,7 @@
 
 class BMI055_QMC5883L : public IMUBase {
 public:
-	explicit BMI055_QMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit BMI055_QMC5883L(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_BMI055_HMC5883L.hpp b/src/F_BMI055_HMC5883L.hpp
index 7d6075a..5dc7b6b 100644
--- a/src/F_BMI055_HMC5883L.hpp
+++ b/src/F_BMI055_HMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class BMI055_HMC5883L : public IMUBase {
 public:
-	explicit BMI055_HMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit BMI055_HMC5883L(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_BMI055_QMC5883L.hpp b/src/F_BMI055_QMC5883L.hpp
index 7fbc188..e3426d0 100644
--- a/src/F_BMI055_QMC5883L.hpp
+++ b/src/F_BMI055_QMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class BMI055_QMC5883L : public IMUBase {
 public:
-	explicit BMI055_QMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit BMI055_QMC5883L(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_BMI160.hpp b/src/F_BMI160.hpp
index 4b397f1..6dc506a 100644
--- a/src/F_BMI160.hpp
+++ b/src/F_BMI160.hpp
@@ -103,7 +103,7 @@
 
 class BMI160 : public IMUBase {
 public:
-	explicit BMI160(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit BMI160(TwoWire& wire = Wire) : wire(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -154,6 +154,7 @@ class BMI160 : public IMUBase {
 	calData calibration;
 	uint8_t IMUAddress;
 
+	TwoWire& wire;
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
diff --git a/src/F_BMI160_AK8975.hpp b/src/F_BMI160_AK8975.hpp
index 65c6414..d77c362 100644
--- a/src/F_BMI160_AK8975.hpp
+++ b/src/F_BMI160_AK8975.hpp
@@ -8,7 +8,7 @@
 
 class BMI160_AK8975 : public IMUBase {
 public:
-	explicit BMI160_AK8975(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit BMI160_AK8975(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_BMI160_HMC5883L.hpp b/src/F_BMI160_HMC5883L.hpp
index 1e0ea2a..90149e7 100644
--- a/src/F_BMI160_HMC5883L.hpp
+++ b/src/F_BMI160_HMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class BMI160_HMC5883L : public IMUBase {
 public:
-	explicit BMI160_HMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit BMI160_HMC5883L(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_BMI160_QMC5883L.hpp b/src/F_BMI160_QMC5883L.hpp
index beece33..2354d5b 100644
--- a/src/F_BMI160_QMC5883L.hpp
+++ b/src/F_BMI160_QMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class BMI160_QMC5883L : public IMUBase {
 public:
-	explicit BMI160_QMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit BMI160_QMC5883L(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_BMX055.hpp b/src/F_BMX055.hpp
index afd382f..19d5ff2 100644
--- a/src/F_BMX055.hpp
+++ b/src/F_BMX055.hpp
@@ -61,7 +61,7 @@
 
 class BMX055 : public IMUBase {
 public:
-	explicit BMX055(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit BMX055(TwoWire& wire = Wire) : wire(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -118,6 +118,7 @@ class BMX055 : public IMUBase {
 	uint8_t GyroAddress;
 	uint8_t MagAddress;
 
+	TwoWire& wire;
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
diff --git a/src/F_HMC5883L.hpp b/src/F_HMC5883L.hpp
index 4447122..23f52b1 100644
--- a/src/F_HMC5883L.hpp
+++ b/src/F_HMC5883L.hpp
@@ -28,7 +28,7 @@
 
 class HMC5883L : public IMUBase {
 public:
-	explicit HMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit HMC5883L(TwoWire& wire = Wire) : wire(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -74,6 +74,8 @@ class HMC5883L : public IMUBase {
 	calData calibration;
 	uint8_t IMUAddress;
 
+	TwoWire& wire;
+
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
 		wire.beginTransmission(address);  // Initialize the Tx buffer
diff --git a/src/F_ICM20689.hpp b/src/F_ICM20689.hpp
index 0277b91..fecc011 100644
--- a/src/F_ICM20689.hpp
+++ b/src/F_ICM20689.hpp
@@ -84,7 +84,7 @@
 
 class ICM20689 : public IMUBase {
 public:
-	explicit ICM20689(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit ICM20689(TwoWire& wire = Wire) : wire(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -135,6 +135,7 @@ class ICM20689 : public IMUBase {
 	calData calibration;
 	uint8_t IMUAddress;
 
+	TwoWire& wire;
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
diff --git a/src/F_ICM20689_AK8975.hpp b/src/F_ICM20689_AK8975.hpp
index 3d51886..9984ec2 100644
--- a/src/F_ICM20689_AK8975.hpp
+++ b/src/F_ICM20689_AK8975.hpp
@@ -8,7 +8,7 @@
 
 class ICM20689_AK8975 : public IMUBase {
 public:
-	explicit ICM20689_AK8975(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit ICM20689_AK8975(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_ICM20689_HMC5883L.hpp b/src/F_ICM20689_HMC5883L.hpp
index 2b89d5e..8a73b84 100644
--- a/src/F_ICM20689_HMC5883L.hpp
+++ b/src/F_ICM20689_HMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class ICM20689_HMC5883L : public IMUBase {
 public:
-	explicit ICM20689_HMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit ICM20689_HMC5883L(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_ICM20689_QMC5883L.hpp b/src/F_ICM20689_QMC5883L.hpp
index e5e73d7..12698b8 100644
--- a/src/F_ICM20689_QMC5883L.hpp
+++ b/src/F_ICM20689_QMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class ICM20689_QMC5883L : public IMUBase {
 public:
-	explicit ICM20689_QMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit ICM20689_QMC5883L(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_ICM20690.hpp b/src/F_ICM20690.hpp
index 333a01f..e01b9b9 100644
--- a/src/F_ICM20690.hpp
+++ b/src/F_ICM20690.hpp
@@ -84,7 +84,7 @@
 
 class ICM20690 : public IMUBase {
 public:
-	explicit ICM20690(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit ICM20690(TwoWire& wire = Wire) : wire(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -134,6 +134,7 @@ class ICM20690 : public IMUBase {
 	calData calibration;
 	uint8_t IMUAddress;
 
+	TwoWire& wire;
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
diff --git a/src/F_ICM20690_AK8975.hpp b/src/F_ICM20690_AK8975.hpp
index 466a961..5965946 100644
--- a/src/F_ICM20690_AK8975.hpp
+++ b/src/F_ICM20690_AK8975.hpp
@@ -8,7 +8,7 @@
 
 class ICM20690_AK8975 : public IMUBase {
 public:
-	explicit ICM20690_AK8975(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit ICM20690_AK8975(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_ICM20690_HMC5883L.hpp b/src/F_ICM20690_HMC5883L.hpp
index ac692a2..4e6412b 100644
--- a/src/F_ICM20690_HMC5883L.hpp
+++ b/src/F_ICM20690_HMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class ICM20690_HMC5883L : public IMUBase {
 public:
-	explicit ICM20690_HMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit ICM20690_HMC5883L(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_ICM20690_QMC5883L.hpp b/src/F_ICM20690_QMC5883L.hpp
index 92c3570..f96aea2 100644
--- a/src/F_ICM20690_QMC5883L.hpp
+++ b/src/F_ICM20690_QMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class ICM20690_QMC5883L : public IMUBase {
 public:
-	explicit ICM20690_QMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit ICM20690_QMC5883L(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_IMU_Generic.hpp b/src/F_IMU_Generic.hpp
index 91698ac..bb7d5c4 100644
--- a/src/F_IMU_Generic.hpp
+++ b/src/F_IMU_Generic.hpp
@@ -161,7 +161,7 @@
 
 class IMU_Generic : public IMUBase {
 public:
-	explicit IMU_Generic(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit IMU_Generic(TwoWire& wire = Wire) : wire(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -214,6 +214,7 @@ class IMU_Generic : public IMUBase {
 	calData calibration;
 	uint8_t IMUAddress;
 
+	TwoWire& wire;
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
diff --git a/src/F_IMU_Generic_AK8975.hpp b/src/F_IMU_Generic_AK8975.hpp
index 03a6077..565ea5c 100644
--- a/src/F_IMU_Generic_AK8975.hpp
+++ b/src/F_IMU_Generic_AK8975.hpp
@@ -8,7 +8,7 @@
 
 class IMU_Generic_AK8975 : public IMUBase {
 public:
-	explicit IMU_Generic_AK8975(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit IMU_Generic_AK8975(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_IMU_Generic_HMC5883L.hpp b/src/F_IMU_Generic_HMC5883L.hpp
index c8c3410..31643a9 100644
--- a/src/F_IMU_Generic_HMC5883L.hpp
+++ b/src/F_IMU_Generic_HMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class IMU_Generic_HMC5883L : public IMUBase {
 public:
-	explicit IMU_Generic_HMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit IMU_Generic_HMC5883L(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_IMU_Generic_QMC5883L.hpp b/src/F_IMU_Generic_QMC5883L.hpp
index c12adc0..2814cc6 100644
--- a/src/F_IMU_Generic_QMC5883L.hpp
+++ b/src/F_IMU_Generic_QMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class IMU_Generic_QMC5883L : public IMUBase {
 public:
-	explicit IMU_Generic_QMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit IMU_Generic_QMC5883L(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_LSM6DS3.hpp b/src/F_LSM6DS3.hpp
index c3c3f28..4a93f78 100644
--- a/src/F_LSM6DS3.hpp
+++ b/src/F_LSM6DS3.hpp
@@ -54,7 +54,7 @@
 
 class LSM6DS3 : public IMUBase {
 public:
-	explicit LSM6DS3(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit LSM6DS3(TwoWire& wire = Wire) : wire(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -104,6 +104,7 @@ class LSM6DS3 : public IMUBase {
 	calData calibration;
 	uint8_t IMUAddress;
 
+	TwoWire& wire;
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
diff --git a/src/F_LSM6DS3_AK8975.hpp b/src/F_LSM6DS3_AK8975.hpp
index 4844fd1..3cf13b6 100644
--- a/src/F_LSM6DS3_AK8975.hpp
+++ b/src/F_LSM6DS3_AK8975.hpp
@@ -8,7 +8,7 @@
 
 class LSM6DS3_AK8975 : public IMUBase {
 public:
-	explicit LSM6DS3_AK8975(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit LSM6DS3_AK8975(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_LSM6DS3_HMC5883L.hpp b/src/F_LSM6DS3_HMC5883L.hpp
index 2057316..5d47137 100644
--- a/src/F_LSM6DS3_HMC5883L.hpp
+++ b/src/F_LSM6DS3_HMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class LSM6DS3_HMC5883L : public IMUBase {
 public:
-	explicit LSM6DS3_HMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit LSM6DS3_HMC5883L(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_LSM6DS3_QMC5883L.hpp b/src/F_LSM6DS3_QMC5883L.hpp
index 7e00648..7c7e1d8 100644
--- a/src/F_LSM6DS3_QMC5883L.hpp
+++ b/src/F_LSM6DS3_QMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class LSM6DS3_QMC5883L : public IMUBase {
 public:
-	explicit LSM6DS3_QMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit LSM6DS3_QMC5883L(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_LSM6DSL.hpp b/src/F_LSM6DSL.hpp
index f708a3b..2b52681 100644
--- a/src/F_LSM6DSL.hpp
+++ b/src/F_LSM6DSL.hpp
@@ -55,7 +55,7 @@
 
 class LSM6DSL : public IMUBase {
 public:
-	explicit LSM6DSL(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit LSM6DSL(TwoWire& wire = Wire) : wire(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -105,6 +105,7 @@ class LSM6DSL : public IMUBase {
 	calData calibration;
 	uint8_t IMUAddress;
 
+	TwoWire& wire;
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
diff --git a/src/F_LSM6DSL_AK8975.hpp b/src/F_LSM6DSL_AK8975.hpp
index fb7cb40..e6d09a2 100644
--- a/src/F_LSM6DSL_AK8975.hpp
+++ b/src/F_LSM6DSL_AK8975.hpp
@@ -8,7 +8,7 @@
 
 class LSM6DSL_AK8975 : public IMUBase {
 public:
-	explicit LSM6DSL_AK8975(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit LSM6DSL_AK8975(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_LSM6DSL_HMC5883L.hpp b/src/F_LSM6DSL_HMC5883L.hpp
index 35713b9..b2842a6 100644
--- a/src/F_LSM6DSL_HMC5883L.hpp
+++ b/src/F_LSM6DSL_HMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class LSM6DSL_HMC5883L : public IMUBase {
 public:
-	explicit LSM6DSL_HMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit LSM6DSL_HMC5883L(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_LSM6DSL_QMC5883L.hpp b/src/F_LSM6DSL_QMC5883L.hpp
index bacdb3b..202087d 100644
--- a/src/F_LSM6DSL_QMC5883L.hpp
+++ b/src/F_LSM6DSL_QMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class LSM6DSL_QMC5883L : public IMUBase {
 public:
-	explicit LSM6DSL_QMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit LSM6DSL_QMC5883L(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_MPU6050.hpp b/src/F_MPU6050.hpp
index 998c0ae..da0e586 100644
--- a/src/F_MPU6050.hpp
+++ b/src/F_MPU6050.hpp
@@ -70,7 +70,7 @@
 
 class MPU6050 : public IMUBase {
 public:
-	explicit MPU6050(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit MPU6050(TwoWire& wire = Wire) : wire(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -120,6 +120,7 @@ class MPU6050 : public IMUBase {
 	calData calibration;
 	uint8_t IMUAddress;
 
+	TwoWire& wire;
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
diff --git a/src/F_MPU6050_AK8975.hpp b/src/F_MPU6050_AK8975.hpp
index f560d1c..8a449b0 100644
--- a/src/F_MPU6050_AK8975.hpp
+++ b/src/F_MPU6050_AK8975.hpp
@@ -8,7 +8,7 @@
 
 class MPU6050_AK8975 : public IMUBase {
 public:
-	explicit MPU6050_AK8975(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit MPU6050_AK8975(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_MPU6050_HMC5883L.hpp b/src/F_MPU6050_HMC5883L.hpp
index 13ce176..36a5cdd 100644
--- a/src/F_MPU6050_HMC5883L.hpp
+++ b/src/F_MPU6050_HMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class MPU6050_HMC5883L : public IMUBase {
 public:
-	explicit MPU6050_HMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit MPU6050_HMC5883L(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_MPU6050_QMC5883L.hpp b/src/F_MPU6050_QMC5883L.hpp
index 5516041..831b536 100644
--- a/src/F_MPU6050_QMC5883L.hpp
+++ b/src/F_MPU6050_QMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class MPU6050_QMC5883L : public IMUBase {
 public:
-	explicit MPU6050_QMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit MPU6050_QMC5883L(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_MPU6500.hpp b/src/F_MPU6500.hpp
index 4c3e0ed..d83bfcc 100644
--- a/src/F_MPU6500.hpp
+++ b/src/F_MPU6500.hpp
@@ -140,7 +140,7 @@
 
 class MPU6500 : public IMUBase {
 public:
-	explicit MPU6500(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit MPU6500(TwoWire& wire = Wire) : wire(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -190,6 +190,7 @@ class MPU6500 : public IMUBase {
 	calData calibration;
 	uint8_t IMUAddress;
 
+	TwoWire& wire;
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
diff --git a/src/F_MPU6500_AK8975.hpp b/src/F_MPU6500_AK8975.hpp
index ee07b11..75d43a1 100644
--- a/src/F_MPU6500_AK8975.hpp
+++ b/src/F_MPU6500_AK8975.hpp
@@ -8,7 +8,7 @@
 
 class MPU6500_AK8975 : public IMUBase {
 public:
-	explicit MPU6500_AK8975(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit MPU6500_AK8975(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_MPU6500_HMC5883L.hpp b/src/F_MPU6500_HMC5883L.hpp
index 24a689b..27fad8b 100644
--- a/src/F_MPU6500_HMC5883L.hpp
+++ b/src/F_MPU6500_HMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class MPU6500_HMC5883L : public IMUBase {
 public:
-	explicit MPU6500_HMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit MPU6500_HMC5883L(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_MPU6500_QMC5883L.hpp b/src/F_MPU6500_QMC5883L.hpp
index b6641da..e00c287 100644
--- a/src/F_MPU6500_QMC5883L.hpp
+++ b/src/F_MPU6500_QMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class MPU6500_QMC5883L : public IMUBase {
 public:
-	explicit MPU6500_QMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit MPU6500_QMC5883L(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_MPU6515.hpp b/src/F_MPU6515.hpp
index f01893b..8af263b 100644
--- a/src/F_MPU6515.hpp
+++ b/src/F_MPU6515.hpp
@@ -140,7 +140,7 @@
 
 class MPU6515 : public IMUBase {
 public:
-	explicit MPU6515(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit MPU6515(TwoWire& wire = Wire) : wire(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -190,6 +190,7 @@ class MPU6515 : public IMUBase {
 	calData calibration;
 	uint8_t IMUAddress;
 
+	TwoWire& wire;
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
diff --git a/src/F_MPU6515_AK8975.hpp b/src/F_MPU6515_AK8975.hpp
index f17abcb..9d66a66 100644
--- a/src/F_MPU6515_AK8975.hpp
+++ b/src/F_MPU6515_AK8975.hpp
@@ -8,7 +8,7 @@
 
 class MPU6515_AK8975 : public IMUBase {
 public:
-	explicit MPU6515_AK8975(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit MPU6515_AK8975(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_MPU6515_HMC5883L.hpp b/src/F_MPU6515_HMC5883L.hpp
index 6102c18..c72ca09 100644
--- a/src/F_MPU6515_HMC5883L.hpp
+++ b/src/F_MPU6515_HMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class MPU6515_HMC5883L : public IMUBase {
 public:
-	explicit MPU6515_HMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit MPU6515_HMC5883L(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_MPU6515_QMC5883L.hpp b/src/F_MPU6515_QMC5883L.hpp
index d5659ee..a321eff 100644
--- a/src/F_MPU6515_QMC5883L.hpp
+++ b/src/F_MPU6515_QMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class MPU6515_QMC5883L : public IMUBase {
 public:
-	explicit MPU6515_QMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit MPU6515_QMC5883L(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_MPU6886.hpp b/src/F_MPU6886.hpp
index 95d4452..e950515 100644
--- a/src/F_MPU6886.hpp
+++ b/src/F_MPU6886.hpp
@@ -140,7 +140,7 @@
 
 class MPU6886 : public IMUBase {
 public:
-	explicit MPU6886(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit MPU6886(TwoWire& wire = Wire) : wire(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -190,6 +190,7 @@ class MPU6886 : public IMUBase {
 	calData calibration;
 	uint8_t IMUAddress;
 
+	TwoWire& wire;
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
diff --git a/src/F_MPU9250.hpp b/src/F_MPU9250.hpp
index e485ec8..e9c5e6b 100644
--- a/src/F_MPU9250.hpp
+++ b/src/F_MPU9250.hpp
@@ -142,7 +142,7 @@
 
 class MPU9250 : public IMUBase {
 public:
-	explicit MPU9250(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit MPU9250(TwoWire& wire = Wire) : wire(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -199,6 +199,7 @@ class MPU9250 : public IMUBase {
 	calData calibration;
 	uint8_t IMUAddress;
 
+	TwoWire& wire;
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
diff --git a/src/F_MPU9255.hpp b/src/F_MPU9255.hpp
index 85f31bd..1375480 100644
--- a/src/F_MPU9255.hpp
+++ b/src/F_MPU9255.hpp
@@ -142,7 +142,7 @@
 
 class MPU9255 : public IMUBase {
 public:
-	explicit MPU9255(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit MPU9255(TwoWire& wire = Wire) : wire(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -199,6 +199,7 @@ class MPU9255 : public IMUBase {
 	calData calibration;
 	uint8_t IMUAddress;
 
+	TwoWire& wire;
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
diff --git a/src/F_QMC5883L.hpp b/src/F_QMC5883L.hpp
index 7a5beed..0facf08 100644
--- a/src/F_QMC5883L.hpp
+++ b/src/F_QMC5883L.hpp
@@ -28,7 +28,7 @@
 
 class QMC5883L : public IMUBase {
 public:
-	explicit QMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit QMC5883L(TwoWire& wire = Wire) : wire(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -79,6 +79,8 @@ class QMC5883L : public IMUBase {
 	calData calibration;
 	uint8_t IMUAddress;
 
+	TwoWire& wire;
+
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
 	{
 		wire.beginTransmission(address);  // Initialize the Tx buffer
diff --git a/src/F_QMI8658.hpp b/src/F_QMI8658.hpp
index 5c917de..ea4c0b1 100644
--- a/src/F_QMI8658.hpp
+++ b/src/F_QMI8658.hpp
@@ -59,7 +59,7 @@
 
 class QMI8658 : public IMUBase {
 public:
-	explicit QMI8658(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit QMI8658(TwoWire& wire = Wire) : wire(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -110,6 +110,8 @@ class QMI8658 : public IMUBase {
 	calData calibration;
 	uint8_t IMUAddress;
 
+	TwoWire& wire;
+	
 	bool dataAvailable(){ return (readByte(IMUAddress, QMI8658_STATUS0) & 0x03);}
 
 	void writeByte(uint8_t address, uint8_t subAddress, uint8_t data)
diff --git a/src/F_QMI8658_AK09918.hpp b/src/F_QMI8658_AK09918.hpp
index 38ae393..66a4544 100644
--- a/src/F_QMI8658_AK09918.hpp
+++ b/src/F_QMI8658_AK09918.hpp
@@ -8,7 +8,7 @@
 
 class QMI8658_AK09918 : public IMUBase {
 public:
-	explicit QMI8658_AK09918(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit QMI8658_AK09918(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_QMI8658_AK8975.hpp b/src/F_QMI8658_AK8975.hpp
index 7f12f70..36e16c6 100644
--- a/src/F_QMI8658_AK8975.hpp
+++ b/src/F_QMI8658_AK8975.hpp
@@ -8,7 +8,7 @@
 
 class QMI8658_AK8975 : public IMUBase {
 public:
-	explicit QMI8658_AK8975(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit QMI8658_AK8975(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_QMI8658_HMC5883L.hpp b/src/F_QMI8658_HMC5883L.hpp
index 705b460..3eac5be 100644
--- a/src/F_QMI8658_HMC5883L.hpp
+++ b/src/F_QMI8658_HMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class QMI8658_HMC5883L : public IMUBase {
 public:
-	explicit QMI8658_HMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit QMI8658_HMC5883L(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {
diff --git a/src/F_QMI8658_QMC5883L.hpp b/src/F_QMI8658_QMC5883L.hpp
index e1cac47..8346cd5 100644
--- a/src/F_QMI8658_QMC5883L.hpp
+++ b/src/F_QMI8658_QMC5883L.hpp
@@ -8,7 +8,7 @@
 
 class QMI8658_QMC5883L : public IMUBase {
 public:
-	explicit QMI8658_QMC5883L(TwoWire& wire = Wire) : IMUBase(wire) {};
+	explicit QMI8658_QMC5883L(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {

From 09267317b985cf0e672983ddb7c547da3de91020 Mon Sep 17 00:00:00 2001
From: James Whitlock <james.whitlock@gmail.com>
Date: Sun, 17 Nov 2024 23:13:29 +0000
Subject: [PATCH 3/3] Fix compilation

---
 src/IMUBase.hpp | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/src/IMUBase.hpp b/src/IMUBase.hpp
index aa1e76a..26089ea 100644
--- a/src/IMUBase.hpp
+++ b/src/IMUBase.hpp
@@ -76,10 +76,6 @@ class IMUBase {
 	virtual String IMUManufacturer(){
 		return "Unknown";
 	}
-
-protected:
-	IMUBase(TwoWire& wire) : wire(wire) {}
-	TwoWire& wire;
 };
 
 #endif /* _F_IMUBase_H_ */
\ No newline at end of file