I am doing a motion capture suit for a project. I am using gy-85 9-DOF inertial sensors and self-made board with esp32 s3 mini 1 for collecting data and transfering them via wifi. Here is a scheme:

on a board i also have TCA9548AMRGER i2c multiplyer connected bia hardware i2c. I planed to connect 12 sensors via software i2c and 8 via i2c multiplyer but when i assembled everything it didnt work. i noticed that i was recieving same wierd data for every sensor and then i ran software i2c scaner for every sensor and only 3 sensors out of 3 was detected(1,2; 10,11; 12,13). I tried the same code, library and sensors on arduino nano one by one and everything was working. I also tried to swap sensors from working ports to sensors from not working ports and nothing changed. So if trouble is not in code, not in sensors and not in wires i suppose it is in my pcb desing. Here is my code:

#include <WiFi.h>
#include <WebServer.h>
#include <Wire.h>
#include <iarduino_I2C_Software.h>

//http://192.168.4.1

const char* ssid = "mocap";
const char* password = "12121212";

char* version = "1.0";
char* firmwareVersion = "1.0";
char* serialNumber = "001";

WebServer server(80);

//----------addresses----------//
#define ADXL345 (0x53) // Device address as specified in data sheet //ADXL345 accelerometer
#define DATAX0 (0x32) //X-Axis Data 0
//#define DATAX1 0x33 //X-Axis Data 1
//#define DATAY0 0x34 //Y-Axis Data 0
//#define DATAY1 0x35 //Y-Axis Data 1
//#define DATAZ0 0x36 //Z-Axis Data 0
//#define DATAZ1 0x37 //Z-Axis Data 1
#define QMC5883L (0x0D) //compass
#define ITG3200 (0x68) //gyro

#define SDA_PIN1 1
#define SCL_PIN1 2

#define SDA_PIN2 4
#define SCL_PIN2 5

#define SDA_PIN3 6
#define SCL_PIN3 7

#define SDA_PIN4 10
#define SCL_PIN4 11

#define SDA_PIN5 12
#define SCL_PIN5 13

#define SDA_PIN6 14
#define SCL_PIN6 15

#define SDA_PIN7 16
#define SCL_PIN7 17

#define SDA_PIN8 18
#define SCL_PIN8 25

#define SDA_PIN9 33
#define SCL_PIN9 34

#define SDA_PIN10 35
#define SCL_PIN10 36

#define SDA_PIN11 37
#define SCL_PIN11 38

#define SDA_PIN12 47
#define SCL_PIN12 48

SoftTwoWire wire1(SDA_PIN1, SCL_PIN1);
SoftTwoWire wire2(SDA_PIN2, SCL_PIN2);
SoftTwoWire wire3(SDA_PIN3, SCL_PIN3);
SoftTwoWire wire4(SDA_PIN4, SCL_PIN4);
SoftTwoWire wire5(SDA_PIN5, SCL_PIN5);
SoftTwoWire wire6(SDA_PIN6, SCL_PIN6);
SoftTwoWire wire7(SDA_PIN7, SCL_PIN7);
SoftTwoWire wire8(SDA_PIN8, SCL_PIN8);
SoftTwoWire wire9(SDA_PIN9, SCL_PIN9);
SoftTwoWire wire10(SDA_PIN10, SCL_PIN10);
SoftTwoWire wire11(SDA_PIN11, SCL_PIN11);
SoftTwoWire wire12(SDA_PIN12, SCL_PIN12);

class GY_85 { 
private:
 void GyroCalibrate(SoftTwoWire wirec);
 void SetGyro(SoftTwoWire wirec);
 void SetCompass(SoftTwoWire wirec);
 void SetAccelerometer(SoftTwoWire wirec);
 
public:
 void init();
 int* ReadFromAccelerometer(SoftTwoWire wirec);
 int* ReadFromCompass(SoftTwoWire wirec);
 float* ReadGyro(SoftTwoWire wirec);
 String Output(SoftTwoWire wirec);
 
 inline int accelerometer_x(int* a){ return *(a);}
 inline int accelerometer_y(int* a){ return *(1+a);}
 inline int accelerometer_z(int* a){ return *(2+a);}
 
 inline int compass_x( int* a ){ return *( a ); }
 inline int compass_y( int* a ){ return *( 1+a ); }
 inline int compass_z( int* a ){ return *( 2+a ); }
 
 inline float gyro_x( float* a ){ return *( a ) / 14.375; }
 inline float gyro_y( float* a ){ return *( 1+a ) / 14.375; }
 inline float gyro_z( float* a ){ return *( 2+a ) / 14.375; }
 inline float temp( float* a ){ return 35+( *( 3+a )+13200 ) / 280; }
};

void GY_85::SetAccelerometer(SoftTwoWire wirec)
{
 wirec.beginTransmission( ADXL345 );
 wirec.write( 0x31 );
 wirec.write( 0x01 );
 wirec.endTransmission();
 
 wirec.beginTransmission( ADXL345 );
 wirec.write( 0x2D );
 wirec.write( 0x08 );
 wirec.endTransmission();
}

int* GY_85::ReadFromAccelerometer(SoftTwoWire wirec)
{
 static int axis[3];
 int buff[6];
 
 wirec.beginTransmission(ADXL345);
 wirec.write(DATAX0);
 wirec.endTransmission();
 
 wirec.beginTransmission(ADXL345);
 wirec.requestFrom(ADXL345, 6 );
 
 uint8_t i = 0;
 while(wirec.available())
 {
 buff[i] = wirec.read();
 i++;
 }
 wirec.endTransmission();
 
 axis[0] = ((buff[1]) << 8) | buff[0];
 axis[1] = ((buff[3]) << 8) | buff[2];
 axis[2] = ((buff[5]) << 8) | buff[4];
 
 return axis;
}

void GY_85::SetCompass(SoftTwoWire wirec)
{
 wirec.begin();

 wirec.beginTransmission(QMC5883L);
 wirec.write(0x0B);
 wirec.write(0x01);
 wirec.endTransmission();

 wirec.beginTransmission(QMC5883L);
 wirec.write(0x09);
 wirec.write(0x1D);
 wirec.endTransmission();
}

int* GY_85::ReadFromCompass(SoftTwoWire wirec)
{
 static int axis[3];
 
 wirec.beginTransmission(QMC5883L);
 wirec.write(0x00);

 int err = wirec.endTransmission();

 if (!err) {
 wirec.requestFrom(QMC5883L, (byte)6);
 axis[0] = (int)(int16_t)(wirec.read() | wirec.read() << 8);
 axis[1] = (int)(int16_t)(wirec.read() | wirec.read() << 8);
 axis[2] = (int)(int16_t)(wirec.read() | wirec.read() << 8);
 }

 return axis;
}

int g_offx = 0;
int g_offy = 0;
int g_offz = 0;

void GY_85::SetGyro(SoftTwoWire wirec)
{
 wirec.beginTransmission( ITG3200 );
 wirec.write( 0x3E );
 wirec.write( 0x00 );
 wirec.endTransmission();
 
 wirec.beginTransmission( ITG3200 );
 wirec.write( 0x15 );
 wirec.write( 0x07 );
 wirec.endTransmission();
 
 wirec.beginTransmission( ITG3200 );
 wirec.write( 0x16 );
 wirec.write( 0x1E );
 wirec.endTransmission();

 wirec.beginTransmission( ITG3200 );
 wirec.write( 0x17 );
 wirec.write( 0x00 );
 wirec.endTransmission();
 
 delay(10);
 
 GyroCalibrate(wirec);
}

void GY_85::GyroCalibrate(SoftTwoWire wirec)
{
 static int tmpx = 0;
 static int tmpy = 0;
 static int tmpz = 0;
 
 g_offx = 0;
 g_offy = 0;
 g_offz = 0;
 
 for( uint8_t i = 0; i < 10; i ++ )
 {
 delay(10);
 float* gp = ReadGyro(wirec);
 tmpx += *( gp);
 tmpy += *(++gp);
 tmpz += *(++gp);
 }
 g_offx = tmpx/10;
 g_offy = tmpy/10;
 g_offz = tmpz/10;
}

float* GY_85::ReadGyro(SoftTwoWire wirec)
{
 static float axis[4];
 
 wirec.beginTransmission( ITG3200 );
 wirec.write( 0x1B );
 wirec.endTransmission();
 
 wirec.beginTransmission( ITG3200 );
 wirec.requestFrom( ITG3200, 8 );
 
 int i = 0;
 uint8_t buff[8];
 while(wirec.available())
 {
 buff[i] = wirec.read();
 i++;
 }
 wirec.endTransmission();
 
 axis[0] = ((buff[2] << 8) | buff[3]) - g_offx;
 axis[1] = ((buff[4] << 8) | buff[5]) - g_offy;
 axis[2] = ((buff[6] << 8) | buff[7]) - g_offz;
 axis[3] = ((buff[0] << 8) | buff[1]);

 return axis;
}

String GY_85::Output(SoftTwoWire wirec)
{
 String direction = "";

 int* accelerometerReadings = ReadFromAccelerometer(wirec);
 direction += accelerometer_x(accelerometerReadings);
 direction += ";";
 direction += accelerometer_y(accelerometerReadings);
 direction += ";";
 direction += accelerometer_z(accelerometerReadings);
 direction += "|";

 // float* gyroReadings = ReadGyro(wirec);
 // direction += gyro_x(gyroReadings);
 // direction += ";";
 // direction += gyro_y(gyroReadings);
 // direction += ";";
 // direction += gyro_z(gyroReadings);
 // direction += "|";

 int* compassReadings = ReadFromCompass(wirec);
 direction += compass_x(compassReadings);
 direction += ";";
 direction += compass_y(compassReadings);
 // direction += ";";
 // direction += compass_z(compassReadings);
 direction += "/";

 return direction;
}

void GY_85::init()
{
 wire1.begin();
 wire2.begin();
 wire3.begin();
 wire4.begin();
 wire5.begin();
 wire6.begin();
 wire7.begin();
 wire8.begin();
 wire9.begin();
 wire10.begin();
 wire11.begin();
 wire12.begin();

 SetAccelerometer(wire1);
 SetCompass(wire1);
 SetGyro(wire1);
 SetAccelerometer(wire2);
 SetCompass(wire2);
 SetGyro(wire2);
 SetAccelerometer(wire3);
 SetCompass(wire3);
 SetGyro(wire3);
 SetAccelerometer(wire4);
 SetCompass(wire4);
 SetGyro(wire4);
 SetAccelerometer(wire5);
 SetCompass(wire5);
 SetGyro(wire5);
 SetAccelerometer(wire6);
 SetCompass(wire6);
 SetGyro(wire6);
 SetAccelerometer(wire7);
 SetCompass(wire7);
 SetGyro(wire7);
 SetAccelerometer(wire8);
 SetCompass(wire8);
 SetGyro(wire8);
 SetAccelerometer(wire9);
 SetCompass(wire9);
 SetGyro(wire9);
 SetAccelerometer(wire10);
 SetCompass(wire10);
 SetGyro(wire10);
 SetAccelerometer(wire11);
 SetCompass(wire11);
 SetGyro(wire11);
 SetAccelerometer(wire12);
 SetCompass(wire12);
 SetGyro(wire12);
}

GY_85 GY85;

void handleOnConnect() {
 String msg = "";

 msg += GY85.Output(wire1);
 msg += GY85.Output(wire2);
 msg += GY85.Output(wire3);
 msg += GY85.Output(wire4);
 msg += GY85.Output(wire5);
 msg += GY85.Output(wire6);
 msg += GY85.Output(wire7);
 msg += GY85.Output(wire8);
 msg += GY85.Output(wire9);
 msg += GY85.Output(wire10);
 msg += GY85.Output(wire11);
 msg += GY85.Output(wire12);

 server.send(200, "text/plain", msg);
}

void handleInfo() {
 String info = "";

 info += ssid;
 info += ";";
 info += version;
 info += ";";
 info += firmwareVersion;
 info += ";";
 info += serialNumber;

 server.send(200, "text/plain", info); 
}

void handleNotFound(){
 server.send(404, "text/plain", "404");
}

void setup() {
 GY85.init();
 
 WiFi.softAP(ssid, password);

 server.on("/", handleOnConnect);
 server.on("/info", handleInfo);
 server.onNotFound(handleNotFound);
 
 server.begin();
}

void loop() {
 server.handleClient();
}

I also tried working with i2c multiplyer but i2c scaner doesnt show a device there.

I would appretiate any help. Thanks in advance

Arduino

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