I2C support and IMU driver

firmware/esp32-s3.ini

@@ -6,7 +6,7 @@ build_flags =
   ${HP_ALL_DRIVERS.build_flags}
   -D CONFIG_IDF_TARGET_ESP32S3=1
   ; -D ARDUINO_USB_MODE=1 ; which USB device classes are enabled on your ESP32 at boot. default 1 in board definition (serial only)
-  ; -D ARDUINO_USB_CDC_ON_BOOT=1 ;Communications Device Class: controls whether the ESP32's USB serial port is enabled automatically at boot, default 1 in board definition
+  ; -D ARDUINO_USB_CDC_ON_BOOT=1 ;Communications Device Class: controls whether the ESP32's USB serial port is enabled automatically at boot, not set in board definition!
   ; -D ARDUINO_USB_MSC_ON_BOOT=0 ;Mass Storage Class, disable
   ; -D ARDUINO_USB_DFU_ON_BOOT=0 ;download firmware update, disable
   ; -D ML_LIVE_MAPPING

platformio.ini

@@ -56,7 +56,7 @@ build_flags =
     -D BUILD_TARGET=\"$PIOENV\"
     -D APP_NAME=\"MoonLight\" ; 🌙 Must only contain characters from [a-zA-Z0-9-_] as this is converted into a filename
     -D APP_VERSION=\"0.8.1\" ; semver compatible version string
-    -D APP_DATE=\"20260212\" ; 🌙
+    -D APP_DATE=\"20260213\" ; 🌙
 
     -D PLATFORM_VERSION=\"pioarduino-55.03.37\" ; 🌙 make sure it matches with above plaftform
 
@@ -141,7 +141,9 @@ extra_scripts =
     scripts/save_elf.py
 lib_deps = 
 	ArduinoJson@>=7.0.0
-    elims/PsychicMqttClient@^0.2.4
+  elims/PsychicMqttClient@^0.2.4
+  ElectronicCats/MPU6050 @ 1.3.0 ; for D_IMU.h driver
+  ; https://github.com/hanyazou/BMI160-Arduino.git ; hanyazou/BMI160-Arduino#057f36e002bee0473a54fcedf41b93acad059568 ; @ ^1.0.0 ; for BMI160
 
 ;💫
 [moonlight]
@@ -152,9 +154,9 @@ build_flags =
   -D DRIVERS_STACK_SIZE=4096 ;  psramFound() ? 4 * 1024 : 3 * 1024, 4096 is sufficient for now
 
   ; -D FASTLED_TESTING ; causes duplicate definition of initSpiHardware(); - workaround: removed implementation in spi_hw_manager_esp32.cpp.hpp
-    -D FASTLED_BUILD=\"20260212\"
+    -D FASTLED_BUILD=\"20260214\"
 lib_deps =
-  https://github.com/FastLED/FastLED#ea5d2d7aadcd5697f912a1c32bb3b7e9891f949b ; master 20260212
+  https://github.com/FastLED/FastLED#878d87d39545228d266e07c6c8c91586b2037894 ; master 20260214
   https://github.com/ewowi/WLED-sync#25f280b5e8e47e49a95282d0b78a5ce5301af4fe ; sourceIP + fftUdp.clear() if arduino >=3 (20251104)
 
 ; 💫 currently only enabled on s3 as esp32dev runs over 100%

src/MoonBase/Modules/ModuleDevices.h

@@ -187,7 +187,16 @@ class ModuleDevices : public Module {
       for (JsonObject dev : devices) {
         if (time(nullptr) - dev["lastSync"].as<time_t>() < 86400) devicesVector.push_back(dev);  // max 1 day
       }
-      std::sort(devicesVector.begin(), devicesVector.end(), [](JsonObject a, JsonObject b) { return a["name"] < b["name"]; });
+
+      std::sort(devicesVector.begin(), devicesVector.end(), [](JsonObject a, JsonObject b) {
+        // Primary sort: by name
+        // int nameCompare = strcmp(a["name"].as<const char*>(), b["name"].as<const char*>());
+        // if (nameCompare != 0) return nameCompare < 0;
+        if (a["name"] != b["name"]) return a["name"] < b["name"];
+
+        // Tie-breaker: by IP address (ensures stable sort)
+        return strcmp(a["ip"].as<const char*>(), b["ip"].as<const char*>()) < 0;
+      });
 
       doc2["devices"].to<JsonArray>();
       for (JsonObject device : devicesVector) {

src/MoonBase/Modules/ModuleIO.h

@@ -14,6 +14,8 @@
 
 #if FT_MOONBASE == 1
 
+  #include <Wire.h>  // for i2C
+
   #include "MoonBase/Module.h"
   #include "driver/uart.h"
 
@@ -216,6 +218,16 @@ class ModuleIO : public Module {
       addControl(rows, "Level", "text", 0, 32, true);     // ro
       addControl(rows, "DriveCap", "text", 0, 32, true);  // ro
     }
+
+    control = addControl(controls, "i2cFreq", "number", 10, 1000, false, "kHz");
+    control["default"] = 100;  // 100 kHz standard mode
+
+    control = addControl(controls, "i2cBus", "rows");
+    control["crud"] = "r";
+    rows = control["n"].to<JsonArray>();
+    {
+      addControl(rows, "address", "number", 0, 255, true);  // ro
+    }
   }
 
   class PinAssigner {
@@ -565,6 +577,23 @@ class ModuleIO : public Module {
       pinAssigner.assignPin(16, pin_LED);
   #endif
 
+  #ifdef CONFIG_IDF_TARGET_ESP32
+      pinAssigner.assignPin(21, pin_I2C_SDA);  // ESP32 classic
+      pinAssigner.assignPin(22, pin_I2C_SCL);
+  #elif defined(CONFIG_IDF_TARGET_ESP32S2) || defined(CONFIG_IDF_TARGET_ESP32S3) || defined(CONFIG_IDF_TARGET_ESP32C3)
+      pinAssigner.assignPin(8, pin_I2C_SDA);  // ESP32-C3
+      pinAssigner.assignPin(9, pin_I2C_SCL);
+  #elif defined(CONFIG_IDF_TARGET_ESP32C6)
+      pinAssigner.assignPin(23, pin_I2C_SDA);  // ESP32-C6
+      pinAssigner.assignPin(22, pin_I2C_SCL);
+  #elif defined(CONFIG_IDF_TARGET_ESP32P4)
+      pinAssigner.assignPin(7, pin_I2C_SDA);  // ESP32-P4 (common board default)
+      pinAssigner.assignPin(8, pin_I2C_SCL);
+  #else
+      pinAssigner.assignPin(21, pin_I2C_SDA);  // Fallback
+      pinAssigner.assignPin(22, pin_I2C_SCL);
+  #endif
+
       // trying to add more pins, but these pins not liked by esp32-d0-16MB ... 🚧
       // pinAssigner.assignPin(4, pin_LED_02;
       // pinAssigner.assignPin(5, pin_LED_03;
@@ -609,6 +638,8 @@ class ModuleIO : public Module {
       newState["modded"] = true;
     } else if (updatedItem.name == "usage") {
       newState["modded"] = true;
+    } else if (updatedItem.name == "i2cFreq") {
+      Wire.setClock(updatedItem.value.as<uint16_t>() * 1000);
     }
 
     if (newState.size()) update(newState, ModuleState::update, _moduleName);  // if changes made then update
@@ -701,6 +732,9 @@ class ModuleIO : public Module {
   #endif  // ethernet
 
   #if FT_BATTERY
+    pinVoltage = UINT8_MAX;
+    pinCurrent = UINT8_MAX;
+    pinBattery = UINT8_MAX;
     for (JsonObject pinObject : _state.data["pins"].as<JsonArray>()) {
       uint8_t usage = pinObject["usage"];
       if (usage == pin_Voltage) {
@@ -790,7 +824,39 @@ class ModuleIO : public Module {
       }
   #endif
     }
-  }
+
+    pinI2CSDA = UINT8_MAX;
+    pinI2CSCL = UINT8_MAX;
+    for (JsonObject pinObject : _state.data["pins"].as<JsonArray>()) {
+      uint8_t usage = pinObject["usage"];
+      if (usage == pin_I2C_SDA) {
+        pinI2CSDA = pinObject["GPIO"];
+        EXT_LOGD(ML_TAG, "I2CSDA found %d", pinI2CSDA);
+      }
+      if (usage == pin_I2C_SCL) {
+        pinI2CSCL = pinObject["GPIO"];
+        EXT_LOGD(ML_TAG, "I2CSCL found %d", pinI2CSCL);
+      }
+    }
+
+    if (pinI2CSCL != UINT8_MAX && pinI2CSDA != UINT8_MAX) {
+      Wire.end();  // Clean up any previous I2C initialization
+      delay(100);
+      uint16_t frequency = _state.data["i2cFreq"];
+      if (Wire.begin(pinI2CSDA, pinI2CSCL, frequency * 1000)) {
+        EXT_LOGI(ML_TAG, "initI2C Wire sda:%d scl:%d freq:%d kHz", pinI2CSDA, pinI2CSCL, frequency);
+        // delay(200);            // Give I2C bus time to stabilize
+        // Wire.setClock(50000);  // Explicitly set to 100kHz
+        _state.data["I2CReady"] = true;
+        updateDevices();
+      } else
+        _state.data["I2CReady"] = false;
+        EXT_LOGE(ML_TAG, "initI2C Wire failed");
+    }
+  }  // readPins
+
+  uint8_t pinI2CSDA = UINT8_MAX;
+  uint8_t pinI2CSCL = UINT8_MAX;
 
   #if FT_BATTERY
   uint8_t pinVoltage = UINT8_MAX;
@@ -867,6 +933,32 @@ class ModuleIO : public Module {
   #endif
   }
 
+  void updateDevices() {
+    JsonDocument doc;
+    doc["i2cBus"].to<JsonArray>();
+    JsonObject newState = doc.as<JsonObject>();
+
+    EXT_LOGI(ML_TAG, "Scanning I2C bus...");
+    byte count = 0;
+    for (byte i = 1; i < 127; i++) {
+      Wire.beginTransmission(i);
+      if (Wire.endTransmission() == 0) {
+        JsonObject i2cDevice = newState["i2cBus"].as<JsonArray>().add<JsonObject>();
+        i2cDevice["address"] = i;
+
+        EXT_LOGI(ML_TAG, "Found I2C device at address 0x%02X", i);
+        count++;
+      }
+    }
+    EXT_LOGI(ML_TAG, "Found %d device(s)", count);
+    JsonObject i2cDevice = newState["i2cBus"].as<JsonArray>().add<JsonObject>();
+    i2cDevice["address"] = 255;
+
+    doc["i2cFreq"] = Wire.getClock() / 1000;
+
+    update(newState, ModuleState::update, _moduleName);
+  }
+
  private:
   ESP32SvelteKit* _sveltekit;
   uint8_t current_board_id = UINT8_MAX;

src/MoonBase/NodeManager.h

@@ -264,6 +264,9 @@ class NodeManager : public Module {
           if (nodeClass != nullptr) {
             nodeClass->on = updatedItem.value.as<bool>();  // set nodeclass on/off
             // EXT_LOGD(ML_TAG, "  nodeclass 🔘:%d 🚥:%d 💎:%d", nodeClass->on, nodeClass->hasOnLayout(), nodeClass->hasModifier());
+            xSemaphoreTake(*nodeClass->layerMutex, portMAX_DELAY);
+            nodeClass->onUpdate(updatedItem.oldValue, nodeState);  // custom onUpdate for the node
+            xSemaphoreGive(*nodeClass->layerMutex);
             nodeClass->requestMappings();
           } else
             EXT_LOGW(ML_TAG, "Nodeclass %s not found", nodeState["name"].as<const char*>());

src/MoonBase/Nodes.h

@@ -344,6 +344,8 @@ static struct SharedData {
   size_t connectedClients;
   size_t activeClients;
   size_t clientListSize;
+
+  Coord3D gravity;
 } sharedData;
 
   /**
@@ -360,6 +362,7 @@ static struct SharedData {
   #include "MoonLight/Nodes/Drivers/D_FastLED.h"
   #include "MoonLight/Nodes/Drivers/D_Hub75.h"
   #include "MoonLight/Nodes/Drivers/D_Infrared.h"
+  #include "MoonLight/Nodes/Drivers/D_IMU.h"
   #include "MoonLight/Nodes/Drivers/D_ParallelLEDDriver.h"
   #include "MoonLight/Nodes/Drivers/D__Sandbox.h"
   #include "MoonLight/Nodes/Effects/E_FastLED.h"

src/MoonBase/SharedFSPersistence.h

@@ -48,9 +48,6 @@ class SharedFSPersistence {
     info.delayedWriting = delayedWriting;
     info.hasDelayedWrite = false;
 
-    // Register update handler
-    info.updateHandlerId = module->addUpdateHandler([this, module](const String& originId) { writeToFS(module->_moduleName); }, false);
-
     _modules[module->_moduleName] = info;
   }
 
@@ -59,7 +56,16 @@ class SharedFSPersistence {
     for (auto& pair : _modules) {
       readFromFS(pair.first);
     }
-    // All setup happens in registerModule
+
+    // Register update handlers for modules that requested delayed writing
+    for (auto& pair : _modules) {
+      if (pair.second.delayedWriting) {
+        enableUpdateHandler(pair.first);
+        EXT_LOGD(ML_TAG, "Enabled update handler for %s after file read", pair.first);
+      }
+    }
+
+    EXT_LOGI(ML_TAG, "SharedFSPersistence initialization complete");
   }
 
   // ADDED: Enable/disable update handler for specific module
@@ -157,17 +163,20 @@ class SharedFSPersistence {
 
     serializeJson(doc, file);
     file.close();
+
     return true;
   }
 
   // ADDED: Static method to process all delayed writes
   static void writeToFSDelayed(char writeOrCancel) {
-    ESP_LOGD(SVK_TAG, "calling %d writeFuncs from delayedWrites", sharedDelayedWrites.size());
+    ESP_LOGD(SVK_TAG, "calling %u writeFuncs from delayedWrites", sharedDelayedWrites.size());
 
-    for (auto& writeFunc : sharedDelayedWrites) {
+    // writeFunc("C") calls readFromFS and module->update, which will call SharedFSPersistence.h onUpdate which will send any state change to writeToFS which add to sharedDelayedWrites
+    auto pending = std::move(sharedDelayedWrites);
+    sharedDelayedWrites.clear();  // leave in valid-but-empty state
+    for (auto& writeFunc : pending) {
       writeFunc(writeOrCancel);
     }
-    sharedDelayedWrites.clear();
   }
 
  private:

src/MoonBase/SharedWebSocketServer.h

@@ -61,7 +61,7 @@ class SharedWebSocketServer {
       // Handle incoming frame data
       if (frame->type == HTTPD_WS_TYPE_TEXT) {
         Module* module = findModule(request->url());
-        EXT_LOGD(ML_TAG, "search module %s: %p", request->path().c_str(), module);
+        EXT_LOGD(ML_TAG, "search module %s: %p", request->url().c_str(), module);
         if (module) {
           JsonDocument doc;
           DeserializationError error = deserializeJson(doc, (char*)frame->payload, frame->len);

src/MoonLight/Layers/PhysicalLayer.cpp

@@ -54,7 +54,7 @@ void PhysicalLayer::setup() {
     lights.maxChannels = MIN(ESP.getPsramSize() / 4, 128 * 64 * 16 * 3);  // fill max 2 * 25% of PSRAM with channels, supporting Virtual driver which is 120 pins * 512..1024 LEDs, max 16 Hub75 128x64 panels
     lights.useDoubleBuffer = true;                                        // Enable double buffering
   } else {
-    lights.maxChannels = 4096 * 3;   // esp32-d0: max 1024->2048->4096 Leds ATM
+    lights.maxChannels = 2048 * 3;   // esp32-d0: max 1024->2048->4096->2048 Leds ATM (4096 is too bleeding edge still - hope is replacing PhysicHTTP by Async webserver solves this)
     lights.useDoubleBuffer = false;  // Single buffer mode
   }
 

src/MoonLight/Modules/ModuleDrivers.h

@@ -106,6 +106,7 @@ class ModuleDrivers : public NodeManager {
     addControlValue(control, getNameAndTags<ArtNetOutDriver>());
     addControlValue(control, getNameAndTags<AudioSyncDriver>());
     addControlValue(control, getNameAndTags<IRDriver>());
+    addControlValue(control, getNameAndTags<IMUDriver>());
     addControlValue(control, getNameAndTags<HUB75Driver>());
 
     // board preset specific
@@ -143,6 +144,7 @@ class ModuleDrivers : public NodeManager {
     if (!node) node = checkAndAlloc<ArtNetOutDriver>(name);
     if (!node) node = checkAndAlloc<AudioSyncDriver>(name);
     if (!node) node = checkAndAlloc<IRDriver>(name);
+    if (!node) node = checkAndAlloc<IMUDriver>(name);
     if (!node) node = checkAndAlloc<HUB75Driver>(name);
 
     // board preset specific

src/MoonLight/Nodes/Drivers/D_FastLED.h

@@ -344,7 +344,12 @@ class FastLEDDriver : public DriverNode {
     // FastLED.setMaxPowerInMilliWatts(1000 * layerP.maxPower);  // 5v, 2000mA, to protect usb while developing
   }
 
-  ~FastLEDDriver() override { FastLED.reset(ResetFlags::CHANNELS); }
+  ~FastLEDDriver() override {
+    auto& events = FastLED.channelEvents();
+    events.onChannelCreated.clear();
+    events.onChannelEnqueued.clear();
+    FastLED.reset(ResetFlags::CHANNELS);  // global: ensure only one FastLEDDriver instance exists. If multiple driver nodes are possible, this destructor will tear down channels for all of them. If singleton is guaranteed by design, consider documenting that assumption at the class level.
+  }
 };
 
 #endif