Support non-default I2C masters

src/F_AK09918.hpp

@@ -58,7 +58,7 @@ enum AK09918_err_type_t {
 
 class AK09918 : public IMUBase {
 public:
-	AK09918() {};
+	explicit AK09918(TwoWire& wire = Wire) : wire(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -109,35 +109,36 @@ class AK09918 : 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
-		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
 	}
 

src/F_AK8963.hpp

@@ -33,7 +33,7 @@
 
 class AK8963 : public IMUBase {
 public:
-	AK8963() {};
+	explicit AK8963(TwoWire& wire = Wire) : wire(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -81,35 +81,36 @@ class AK8963 : 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
-		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
 	}
 

src/F_AK8975.hpp

@@ -33,7 +33,7 @@
 
 class AK8975 : public IMUBase {
 public:
-	AK8975() {};
+	explicit AK8975(TwoWire& wire = Wire) : wire(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -81,35 +81,36 @@ class AK8975 : 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
-		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
 	}
 

src/F_BMI055.hpp

@@ -41,7 +41,7 @@
 
 class BMI055 : public IMUBase {
 public:
-	BMI055() {};
+	explicit BMI055(TwoWire& wire = Wire) : wire(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -94,35 +94,36 @@ class BMI055 : public IMUBase {
 	uint8_t AccelAddress;
 	uint8_t GyroAddress;
 
+	TwoWire& wire;
 
 	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
 	}
 };

src/F_BMI055_AK8975.hpp

@@ -8,7 +8,7 @@
 
 class BMI055_QMC5883L : public IMUBase {
 public:
-	BMI055_QMC5883L() {};
+	explicit BMI055_QMC5883L(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {

src/F_BMI055_HMC5883L.hpp

@@ -8,7 +8,7 @@
 
 class BMI055_HMC5883L : public IMUBase {
 public:
-	BMI055_HMC5883L() {};
+	explicit BMI055_HMC5883L(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {

src/F_BMI055_QMC5883L.hpp

@@ -8,7 +8,7 @@
 
 class BMI055_QMC5883L : public IMUBase {
 public:
-	BMI055_QMC5883L() {};
+	explicit BMI055_QMC5883L(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {

src/F_BMI160.hpp

@@ -103,7 +103,7 @@
 
 class BMI160 : public IMUBase {
 public:
-	BMI160() {};
+	explicit BMI160(TwoWire& wire = Wire) : wire(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override;
@@ -154,35 +154,36 @@ class BMI160 : 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
-		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
 	}
 };

src/F_BMI160_AK8975.hpp

@@ -8,7 +8,7 @@
 
 class BMI160_AK8975 : public IMUBase {
 public:
-	BMI160_AK8975() {};
+	explicit BMI160_AK8975(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {

src/F_BMI160_HMC5883L.hpp

@@ -8,7 +8,7 @@
 
 class BMI160_HMC5883L : public IMUBase {
 public:
-	BMI160_HMC5883L() {};
+	explicit BMI160_HMC5883L(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {

src/F_BMI160_QMC5883L.hpp

@@ -8,7 +8,7 @@
 
 class BMI160_QMC5883L : public IMUBase {
 public:
-	BMI160_QMC5883L() {};
+	explicit BMI160_QMC5883L(TwoWire& wire = Wire) : IMU(wire), MAG(wire) {};
 
 	// Inherited via IMUBase
 	int init(calData cal, uint8_t address) override {