From a8294b983ab4f4a295f0c9eecea253b5ae9516c5 Mon Sep 17 00:00:00 2001
From: HarukiToreda <116696711+HarukiToreda@users.noreply.github.com>
Date: Fri, 16 May 2025 02:14:50 -0400
Subject: [PATCH] Fix for Magnetic compass.

---
 src/motion/ICM20948Sensor.cpp | 18 ++++++++++++------
 1 file changed, 12 insertions(+), 6 deletions(-)

diff --git a/src/motion/ICM20948Sensor.cpp b/src/motion/ICM20948Sensor.cpp
index d03633124..7f296a2d8 100755
--- a/src/motion/ICM20948Sensor.cpp
+++ b/src/motion/ICM20948Sensor.cpp
@@ -190,12 +190,18 @@ bool ICM20948Singleton::init(ScanI2C::FoundDevice device)
 #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);
-#else
-    ICM_20948_Status_e status = begin(Wire, device.address.address == ICM20948_ADDR ? 1 : 0);
-#endif
+    #if defined(WIRE_INTERFACES_COUNT) && (WIRE_INTERFACES_COUNT > 1)
+        TwoWire &bus = (device.address.port == ScanI2C::I2CPort::WIRE1 ? Wire1 : Wire);
+    #else
+        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;