I2C support and IMU driver

platformio.ini

@@ -141,7 +141,8 @@ 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
 
 ;💫
 [moonlight]

src/MoonBase/Modules/ModuleIO.h

@@ -14,6 +14,8 @@
 
 #if FT_MOONBASE == 1
 
+  #include <Wire.h>
+
   #include "MoonBase/Module.h"
   #include "driver/uart.h"
 
@@ -216,6 +218,15 @@ class ModuleIO : public Module {
       addControl(rows, "Level", "text", 0, 32, true);     // ro
       addControl(rows, "DriveCap", "text", 0, 32, true);  // ro
     }
+
+    addControl(controls, "i2cFreq", "number", 0, 65534, false, "kHz");
+
+    control = addControl(controls, "i2cBus", "rows");
+    control["crud"] = "r";
+    rows = control["n"].to<JsonArray>();
+    {
+      addControl(rows, "address", "number", 0, 255, true);  // ro
+    }
   }
 
   class PinAssigner {
@@ -564,6 +575,13 @@ class ModuleIO : public Module {
   #else
       pinAssigner.assignPin(16, pin_LED);
   #endif
+  #ifdef CONFIG_IDF_TARGET_ESP32
+      pinAssigner.assignPin(21, pin_I2C_SDA);
+      pinAssigner.assignPin(22, pin_I2C_SCL);
+  #else
+      pinAssigner.assignPin(8, pin_I2C_SDA);
+      pinAssigner.assignPin(9, pin_I2C_SCL);
+  #endif
 
       // trying to add more pins, but these pins not liked by esp32-d0-16MB ... 🚧
       // pinAssigner.assignPin(4, pin_LED_02;
@@ -609,6 +627,8 @@ 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
@@ -790,7 +810,34 @@ class ModuleIO : public Module {
       }
   #endif
     }
-  }
+
+    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
+      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", pinI2CSDA, pinI2CSCL, frequency);
+        // delay(200);            // Give I2C bus time to stabilize
+        // Wire.setClock(50000);  // Explicitly set to 100kHz
+        updateDevices();
+      } else
+        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 +914,32 @@ 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/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_IMU.h

@@ -0,0 +1,138 @@
+/**
+    @title     MoonLight
+    @file      D_MPU6050.h
+    @repo      https://github.com/MoonModules/MoonLight, submit changes to this file as PRs
+    @Authors   https://github.com/MoonModules/MoonLight/commits/main
+    @Doc       https://moonmodules.org/MoonLight/moonlight/overview/
+    @Copyright © 2026 Github MoonLight Commit Authors
+    @license   GNU GENERAL PUBLIC LICENSE Version 3, 29 June 2007
+    @license   For non GPL-v3 usage, commercial licenses must be purchased. Contact us for more information.
+**/
+
+#if FT_MOONLIGHT
+
+  #include <MPU6050_6Axis_MotionApps20.h>
+
+class IMUDriver : public Node {
+ public:
+  static const char* name() { return "IMU driver"; }  // Inertial Measurement Unit
+  static uint8_t dim() { return _NoD; }
+  static const char* tags() { return "☸️"; }
+
+  bool motionTrackingReady = false;  // set true if DMP init was successful
+
+  Coord3D gyro;  // in degrees (not radians)
+  Coord3D accell;
+  uint8_t board = 0;
+
+  void setup() override {
+    // controls will show in the UI
+    // for different type of controls see other Nodes
+    // addControl(pin, "pin", "slider", 1, SOC_GPIO_PIN_COUNT - 1);
+    addControl(gyro, "gyro", "coord3D");
+    addControl(accell, "accell", "coord3D");
+    // isEnabled = false;  // need to enable after fresh setup
+    addControl(board, "board", "select");
+    addControlValue("MPU6050");
+    addControlValue("BMI160");  // not supported yet
+  }
+
+  void onUpdate(const Char<20>& oldValue, const JsonObject& control) override {
+    // add your custom onUpdate code here
+    if (!control["on"].isNull()) {  // control is the node n case of on!
+      if (control["on"] == true) {
+        bool i2cInited = true;  // todo: check in moduleIO if successfull
+        if (i2cInited) {
+          if (board == 0) {  // MPU6050
+            mpu.initialize();
+
+            // delay(100);
+
+            // verify connection
+            if (mpu.testConnection()) {
+              EXT_LOGI(ML_TAG, "MPU6050 connection successful Initializing DMP...");
+              uint8_t devStatus = mpu.dmpInitialize();
+
+              if (devStatus == 0) {
+                // // Calibration Time: generate offsets and calibrate our MPU6050
+                mpu.CalibrateAccel(6);
+                mpu.CalibrateGyro(6);
+                // mpu.PrintActiveOffsets();
+
+                mpu.setDMPEnabled(true);  // mandatory
+
+                // mpuIntStatus = mpu.getIntStatus();
+
+                motionTrackingReady = true;
+              } else {
+                // ERROR!
+                // 1 = initial memory load failed
+                // 2 = DMP configuration updates failed
+                // (if it's going to break, usually the code will be 1)
+                EXT_LOGW(ML_TAG, "DMP Initialization failed (code %d)", devStatus);
+              }
+            } else
+              EXT_LOGW(ML_TAG, "Testing device connections MPU6050 connection failed");
+          }
+        }
+      }
+    }
+  }
+
+  void loop20ms() override {
+    // mpu.getMotion6(&accell.x, &accell.y, &accell.z, &gyro.x, &gyro.y, &gyro.z);
+    // // display tab-separated accel/gyro x/y/z values
+    // EXT_LOGI(ML_TAG, "mpu6050 %d,%d,%d %d,%d,%d", accell.x, accell.y, accell.z, gyro.x, gyro.y, gyro.z);
+
+    // if programming failed, don't try to do anything
+    if (!motionTrackingReady) return;
+    // read a packet from FIFO
+    if (board == 0) {                                 // MPU6050
+      if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) {  // Get the Latest packet
+        mpu.dmpGetQuaternion(&q, fifoBuffer);
+        mpu.dmpGetGravity(&gravity, &q);
+        mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
+        gyro.y = ypr[0] * 180 / M_PI;  // pan = yaw !
+        gyro.x = ypr[1] * 180 / M_PI;  // tilt = pitch !
+        gyro.z = ypr[2] * 180 / M_PI;  // roll = roll
+        sharedData.gravity.x = gravity.x * INT16_MAX;
+        sharedData.gravity.y = gravity.y * INT16_MAX;
+        sharedData.gravity.z = gravity.z * INT16_MAX;
+        // display real acceleration, adjusted to remove gravity
+
+        EXT_LOGD(ML_TAG, "%f %f %f", gravity.x, gravity.y, gravity.z);
+
+        // needed to repeat the following 3 lines (yes if you look at the output: otherwise not 0)
+        // mpu.dmpGetQuaternion(&q, fifoBuffer);
+        // mpu.dmpGetAccel(&aa, fifoBuffer);
+        // mpu.dmpGetGravity(&gravity, &q);
+
+        mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
+        // mpu.dmpGetLinearAccelInWorld(&aaWorld, &aaReal, &q); //worked in 0.6.0, not in 1.3.0 anymore
+
+        accell.x = aaReal.x;
+        accell.y = aaReal.y;
+        accell.z = aaReal.z;
+      }
+    }
+  };
+
+  ~IMUDriver() override {};
+
+ private:
+  MPU6050 mpu;
+
+  // MPU control/status vars
+  uint8_t fifoBuffer[64];  // FIFO storage buffer
+
+  // orientation/motion vars
+  Quaternion q;        // [w, x, y, z]         quaternion container
+  VectorInt16 aa;      // [x, y, z]            accel sensor measurements
+  VectorInt16 aaReal;  // [x, y, z]            gravity-free accel sensor measurements
+  // VectorInt16 aaWorld;    // [x, y, z]            world-frame accel sensor measurements
+  VectorFloat gravity;  // [x, y, z]            gravity vector
+  // float euler[3];         // [psi, theta, phi]    Euler angle container
+  float ypr[3];  // [yaw, pitch, roll]   yaw/pitch/roll container and gravity vector
+};
+
+#endif

src/MoonLight/Nodes/Drivers/D__Sandbox.h

@@ -28,7 +28,7 @@ class ExampleDriver : public Node {
     addControl(pin, "pin", "slider", 1, SOC_GPIO_PIN_COUNT - 1);
   }
 
-  void onUpdate(const Char<20>& oldValue, const JsonObject& control) {
+  void onUpdate(const Char<20>& oldValue, const JsonObject& control) override {
     // add your custom onUpdate code here
     if (control["name"] == "pin") {
       if (control["value"] == 0) {

src/MoonLight/Nodes/Effects/E_MoonLight.h

@@ -1177,11 +1177,7 @@ class ParticlesEffect : public Node {
   uint8_t speed = 15;
   uint8_t numParticles = 10;
   bool barriers = false;
-  #ifdef STARBASE_USERMOD_MPU6050
-  bool gyro = true;
-  #else
   bool gyro = false;
-  #endif
   bool randomGravity = true;
   uint8_t gravityChangeInterval = 5;
   // bool debugPrint    = layer->effectData.read<bool>();
@@ -1191,9 +1187,7 @@ class ParticlesEffect : public Node {
     addControl(speed, "speed", "slider", 0, 30);
     addControl(numParticles, "number of Particles", "slider", 1, 255);
     addControl(barriers, "barriers", "checkbox");
-  #ifdef STARBASE_USERMOD_MPU6050
     addControl(gyro, "gyro", "checkbox");
-  #endif
     addControl(randomGravity, "randomGravity", "checkbox");
     addControl(gravityChangeInterval, "gravityChangeInterval", "slider", 1, 10);
     // addControl(bool, "Debug Print",             layer->effectData.write<bool>(0));
@@ -1256,18 +1250,16 @@ class ParticlesEffect : public Node {
 
     float gravityX, gravityY, gravityZ;  // Gravity if using gyro or random gravity
 
-  #ifdef STARBASE_USERMOD_MPU6050
     if (gyro) {
-      gravity[0] = -mpu6050->gravityVector.x;
-      gravity[1] = mpu6050->gravityVector.z;  // Swap Y and Z axis
-      gravity[2] = -mpu6050->gravityVector.y;
+      gravity[0] = -sharedData.gravity.x;
+      gravity[1] = sharedData.gravity.z;  // Swap Y and Z axis
+      gravity[2] = -sharedData.gravity.y;
 
       if (layer->layerDimension == _2D) {  // Swap back Y and Z axis set Z to 0
         gravity[1] = -gravity[2];
         gravity[2] = 0;
       }
     }
-  #endif
 
     if (randomGravity) {
       if (pal::millis() - gravUpdate > gravityChangeInterval * 1000) {

src/MoonLight/Nodes/Effects/E__Sandbox.h

@@ -32,7 +32,7 @@ class ExampleEffect : public Node {
 
   void onSizeChanged(const Coord3D& prevSize) override {}  // e.g. realloc variables
 
-  void onUpdate(const Char<20>& oldValue, const JsonObject& control) {
+  void onUpdate(const Char<20>& oldValue, const JsonObject& control) override {
     // add your custom onUpdate code here
     if (control["name"] == "bpm") {
       if (control["value"] == 0) {