From 16994c872540771663571bd83de1d5cbe11d3512 Mon Sep 17 00:00:00 2001
From: HarukiToreda <116696711+HarukiToreda@users.noreply.github.com>
Date: Mon, 19 May 2025 07:49:38 -0400
Subject: [PATCH] Fix for ICM-20948 not initializing (#6827)

* Fix for ICM-20948 not initializing

* trunk fix
---
 src/motion/ICM20948Sensor.cpp | 16 +++++++++++-----
 1 file changed, 11 insertions(+), 5 deletions(-)

diff --git a/src/motion/ICM20948Sensor.cpp b/src/motion/ICM20948Sensor.cpp
index d03633124..ecc48d39b 100755
--- a/src/motion/ICM20948Sensor.cpp
+++ b/src/motion/ICM20948Sensor.cpp
@@ -189,13 +189,19 @@ bool ICM20948Singleton::init(ScanI2C::FoundDevice device)
     enableDebugging();
 #endif
 
-// startup
-#ifdef Wire1
-    ICM_20948_Status_e status =
-        begin(device.address.port == ScanI2C::I2CPort::WIRE1 ? Wire1 : Wire, device.address.address == ICM20948_ADDR ? 1 : 0);
+    // startup
+#if defined(WIRE_INTERFACES_COUNT) && (WIRE_INTERFACES_COUNT > 1)
+    TwoWire &bus = (device.address.port == ScanI2C::I2CPort::WIRE1 ? Wire1 : Wire);
 #else
-    ICM_20948_Status_e status = begin(Wire, device.address.address == ICM20948_ADDR ? 1 : 0);
+    TwoWire &bus = Wire; // fallback if only one I2C interface
 #endif
+
+    bool bAddr = (device.address.address == 0x69);
+    delay(100);
+
+    LOG_DEBUG("ICM20948 begin on addr 0x%02X (port=%d, bAddr=%d)", device.address.address, device.address.port, bAddr);
+
+    ICM_20948_Status_e status = begin(bus, bAddr);
     if (status != ICM_20948_Stat_Ok) {
         LOG_DEBUG("ICM20948 init begin - %s", statusString());
         return false;