IMO support in usermod games, add 3D IMO cube effect

- platformio: add USERMOD_MPU6050_IMU and ElectronicCats/MPU6050 @ 0.6.0 to esp32mdevums - USERMOD_MPU6050_IMU: update readme.md and usermod_mpu650_imu.h - usermod_v2_games: support for USERMOD_MPU6050_IMU, add mode_IMUTest and class Frame3D and mode_3DIMUCube, remove old gyro handling - usermods_list.cpp: add USERMOD_MPU6050_IMU
2022-09-27 15:19:58 +02:00
parent 471ccf946b
commit 9414f531dd
5 changed files with 387 additions and 215 deletions
--- a/platformio.ini
+++ b/platformio.ini
@@ -12,7 +12,7 @@
 ; default_envs = travis_esp8266, travis_esp32

 # Release binaries
-default_envs = nodemcuv2, esp8266_2m, esp01_1m_full, esp32dev, esp32_eth, esp32s2_saola, esp32c3
+; default_envs = nodemcuv2, esp8266_2m, esp01_1m_full, esp32dev, esp32_eth, esp32s2_saola, esp32c3

 # Build everything
 ; default_envs = esp32dev, esp8285_4CH_MagicHome, codm-controller-0.6-rev2, codm-controller-0.6, esp32s2_saola, d1_mini_5CH_Shojo_PCB, d1_mini, sp501e, travis_esp8266, travis_esp32, nodemcuv2, esp32_eth, anavi_miracle_controller, esp07, esp01_1m_full, m5atom, h803wf, d1_mini_ota, heltec_wifi_kit_8, esp8285_H801, d1_mini_debug, wemos_shield_esp32, elekstube_ips
@@ -32,6 +32,9 @@ default_envs = nodemcuv2, esp8266_2m, esp01_1m_full, esp32dev, esp32_eth, esp32s
 ; default_envs = esp8285_4CH_MagicHome
 ; default_envs = esp8285_H801
 ; default_envs = d1_mini_5CH_Shojo_PCB
+; default_envs = esp32mdev
+default_envs = esp32mdevums
+; default_envs = esp8266mdev
 ; default_envs = wemos_shield_esp32
 ; default_envs = m5atom
 ; default_envs = esp32_eth
@@ -222,7 +225,9 @@ default_partitions = tools/WLED_ESP32_4MB_1MB_FS.csv

 lib_deps =
  ${env.lib_deps}
-  https://github.com/lorol/LITTLEFS.git
+  ; https://github.com/lorol/LITTLEFS.git
+  ; WLEDSR specific: use patched version of lorol LittleFS
+  https://github.com/softhack007/LITTLEFS-threadsafe.git#master
  makuna/NeoPixelBus @ 2.6.9
  https://github.com/pbolduc/AsyncTCP.git @ 1.2.0

@@ -437,6 +442,82 @@ build_unflags = ${common.build_unflags}
 build_flags = ${common.build_flags_esp8266} -D LEDPIN=12 -D IRPIN=-1 -D RLYPIN=2
 lib_deps = ${esp8266.lib_deps}

+# ------------------------------------------------------------------------------
+# MoonModules configs
+# ------------------------------------------------------------------------------
+
+[env:esp32mdev]
+board = esp32dev
+platform = ${esp32.platform}
+upload_speed = 460800 ; or 921600
+platform_packages = ${esp32.platform_packages}
+build_unflags = ${common.build_unflags}
+
+build_flags = ${common.build_flags_esp32}
+  -D WLED_RELEASE_NAME=ESP32 #-D WLED_DISABLE_BLYNK #-D WLED_DISABLE_BROWNOUT_DET
+  -D ABL_MILLIAMPS_DEFAULT=1500 ; 850 not enough for 1024 leds
+  -D UWLED_USE_MY_CONFIG
+  -D USERMOD_AUDIOREACTIVE
+  -D UM_AUDIOREACTIVE_USE_NEW_FFT
+  -D USERMOD_CUSTOMEFFECTS
+  ; -D WLED_DEBUG
+lib_deps = ${esp32.lib_deps}
+  https://github.com/kosme/arduinoFFT#develop @ 1.9.2
+; monitor_filters = esp32_exception_decoder
+board_build.partitions = ${esp32.default_partitions}
+board_build.f_flash = 80000000L
+board_build.flash_mode = dio
+
+[env:esp32mdevums]
+board = esp32dev
+platform = ${esp32.platform}
+upload_speed = 460800 ; or 921600
+platform_packages = ${esp32.platform_packages}
+build_unflags = ${common.build_unflags}
+build_flags = ${common.build_flags_esp32}
+  -D WLED_RELEASE_NAME=ESP32 ; what does this do?
+  #-D WLED_DISABLE_BLYNK #-D WLED_DISABLE_BROWNOUT_DET ; which settings and when?
+  -D ABL_MILLIAMPS_DEFAULT=1500 ; 850 not enough for 1024 leds
+  -D WLED_MAX_USERMODS=9 ; default only 4-6
+  -D UWLED_USE_MY_CONFIG ; what does this do?
+  -D USERMOD_AUDIOREACTIVE
+  -D UM_AUDIOREACTIVE_USE_NEW_FFT ; explain
+  ; -D USERMOD_DALLASTEMPERATURE
+  ; -D USE_ALT_DISPlAY ; new versions of USERMOD_FOUR_LINE_DISPLAY and USERMOD_ROTARY_ENCODER_UI
+  ; -D USERMOD_FOUR_LINE_DISPLAY
+  ; -D USERMOD_ROTARY_ENCODER_UI
+  -D USERMOD_AUTO_SAVE
+  -D USERMOD_CUSTOMEFFECTS ; WLEDSR usermod
+  -D USERMOD_WEATHER ; WLEDSR usermod
+  -D USERMOD_MPU6050_IMU ; gyro/accelero for USERMOD_GAMES (ONLY WORKS IF USERMOD_FOUR_LINE_DISPLAY NOT INCLUDED - I2C SHARING BUG)
+  -D USERMOD_GAMES ; WLEDSR usermod
+  ; -D WLED_DEBUG
+lib_deps = ${esp32.lib_deps}
+  ; OneWire@~2.3.5 ; used for USERMOD_FOUR_LINE_DISPLAY, USERMOD_DALLASTEMPERATURE
+  ; olikraus/U8g2 @ ^2.28.8 ; used for USERMOD_FOUR_LINE_DISPLAY 
+  https://github.com/kosme/arduinoFFT#develop @ 1.9.2 ; used for USERMOD_AUDIOREACTIVE
+  ElectronicCats/MPU6050 @ 0.6.0 ; used for USERMOD_MPU6050_IMU
+monitor_filters = esp32_exception_decoder ; used to show crash details
+board_build.partitions = ${esp32.default_partitions}
+; board_build.partitions = tools/WLED_ESP32_16MB.csv
+; board_build.partitions = tools/WLED_ESP32-wrover_4MB.csv
+board_build.f_flash = 80000000L ; explain
+board_build.flash_mode = dio ; explain (dio vs qio?)
+
+[env:esp8266mdev]
+extends = env:d1_mini
+upload_speed = 460800 ;115200
+build_flags = ${common.build_flags_esp8266}
+  -D WLED_DEBUG
+  -D WLED_DISABLE_ALEXA
+  -D WLED_DISABLE_BLYNK
+  -D WLED_DISABLE_HUESYNC
+  ; -D WLED_DISABLE_2D
+  ; -D WLED_DISABLE_AUDIO
+  ; -D USERMOD_AUDIOREACTIVE
+  -UWLED_USE_MY_CONFIG
+; monitor_filters = esp8266_exception_decoder
+
 # ------------------------------------------------------------------------------
 # custom board configurations
 # ------------------------------------------------------------------------------
@@ -444,21 +525,33 @@ lib_deps = ${esp8266.lib_deps}
 [env:wemos_shield_esp32]
 board = esp32dev
 platform = espressif32@3.2
-upload_speed = 460800
+upload_speed = 460800 ; or 921600
 build_unflags = ${common.build_unflags}
 build_flags = ${common.build_flags_esp32}
+  -D ABL_MILLIAMPS_DEFAULT=1500 ; 850 not enough for 1024 leds
+  -D WLED_MAX_USERMODS=8
  -D LEDPIN=16
  -D RLYPIN=19
  -D BTNPIN=17
  -D IRPIN=18
  -D UWLED_USE_MY_CONFIG
-  -D USERMOD_DALLASTEMPERATURE
-  -D USERMOD_FOUR_LINE_DISPLAY
-  -D TEMPERATURE_PIN=23
+  -D USERMOD_CUSTOMEFFECTS
+  -D USERMOD_AUDIOREACTIVE -D AUDIOPIN=-1 -D DMTYPE=1 -D I2S_SDPIN=32 -D I2S_WSPIN=15 -D I2S_CKPIN=14
+  -D UM_AUDIOREACTIVE_USE_NEW_FFT
+  -D USERMOD_DALLASTEMPERATURE -D TEMPERATURE_PIN=23
+  -D USE_ALT_DISPlAY
+  -D USERMOD_FOUR_LINE_DISPLAY -D FLD_PIN_SCL=22 -D FLD_PIN_SDA=21
+  -D USERMOD_ROTARY_ENCODER_UI ; -D ENCODER_DT_PIN=18 -D ENCODER_CLK_PIN=5 -D ENCODER_SW_PIN=19  
+  -D USERMOD_AUTO_SAVE
+  -D USERMOD_WEATHER
+  -D USERMOD_GAMES
+  ; -D WLED_DEBUG
 lib_deps = ${esp32.lib_deps}
  OneWire@~2.3.5
  olikraus/U8g2 @ ^2.28.8
+  https://github.com/kosme/arduinoFFT#develop @ 1.9.2
 board_build.partitions = ${esp32.default_partitions}
+; board_build.partitions = tools/WLED_ESP32_16MB.csv

 [env:m5atom]
 board = esp32dev
--- a/usermods/mpu6050_imu/readme.md
+++ b/usermods/mpu6050_imu/readme.md
@@ -20,9 +20,9 @@ react to the globes orientation. See the blog post on building it <https://www.r

 I2Cdev and MPU6050 must be installed.

-To install them, add I2Cdevlib-MPU6050@fbde122cc5 to lib_deps in the platformio.ini file.
+To install them, add ElectronicCats/MPU6050 @ 0.6.0 to lib_deps in the platformio.ini file.

-You also need to change lib_compat_mode from strict to soft in platformio.ini (This ignores that I2Cdevlib-MPU6050 doesn't list platform compatibility)
+<!-- You also need to change lib_compat_mode from strict to soft in platformio.ini (This ignores that I2Cdevlib-MPU6050 doesn't list platform compatibility) -->

 For example:

@@ -36,7 +36,7 @@ lib_deps =
    AsyncTCP@1.0.3
    Esp Async WebServer@1.2.0
    IRremoteESP8266@2.7.3
-    I2Cdevlib-MPU6050@fbde122cc5
+    ElectronicCats/MPU6050 @ 0.6.0
 ```

 ## Wiring
@@ -77,18 +77,19 @@ to the info object

 ## Usermod installation

-1. Copy the file `usermod_mpu6050_imu.h` to the `wled00` directory.
-2. Register the usermod by adding `#include "usermod_mpu6050_imu.h.h"` in the top and `registerUsermod(new MPU6050Driver());` in the bottom of `usermods_list.cpp`.
+<!-- 1. Copy the file `usermod_mpu6050_imu.h` to the `wled00` directory. -->
+2. Register the usermod by adding `#include "usermod_mpu6050_imu.h"` in the top and `registerUsermod(new MPU6050Driver());` in the bottom of `usermods_list.cpp`.

 Example **usermods_list.cpp**:

 ```cpp
 #include "wled.h"

-#include "usermod_mpu6050_imu.h"
+#ifdef USERMOD_MPU6050_IMU
+#include "../usermods/mpu6050_imu/usermod_mpu6050_imu.h"
+#endif

-void registerUsermods()
-{
+#ifdef USERMOD_MPU6050_IMU
  usermods.add(new MPU6050Driver());
-}
+#endif
 ```
--- a/usermods/mpu6050_imu/usermod_mpu6050_imu.h
+++ b/usermods/mpu6050_imu/usermod_mpu6050_imu.h
@@ -2,6 +2,17 @@

 #include "wled.h"

+#ifdef WLED_DEBUG
+  #define DEBUG_PRINT_IMU(x) Serial.print(x)
+  #define DEBUG_PRINT_IMULN(x) Serial.println(x)
+  #define DEBUG_PRINT_IMUF(x...) Serial.printf(x)
+#else
+  #define DEBUG_PRINT_IMU(x)
+  #define DEBUG_PRINT_IMULN(x)
+  #define DEBUG_PRINT_IMUF(x...)
+#endif
+
+
 /* This driver reads quaternion data from the MPU6060 and adds it to the JSON
   This example is adapted from:
   https://github.com/jrowberg/i2cdevlib/tree/master/Arduino/MPU6050/examples/MPU6050_DMP6_ESPWiFi
@@ -26,15 +37,14 @@
  2. Register the usermod by adding #include "usermod_filename.h" in the top and registerUsermod(new MyUsermodClass()) in the bottom of usermods_list.cpp
  3. I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h file 
     for both classes must be in the include path of your project. To install the
-     libraries add I2Cdevlib-MPU6050@fbde122cc5 to lib_deps in the platformio.ini file.
-  4. You also need to change lib_compat_mode from strict to soft in platformio.ini (This ignores that I2Cdevlib-MPU6050 doesn't list platform compatibility)
+     libraries add ElectronicCats/MPU6050 @ 0.6.0 to lib_deps in the platformio.ini file.
+  // 4. You also need to change lib_compat_mode from strict to soft in platformio.ini (This ignores that I2Cdevlib-MPU6050 doesn't list platform compatibility)
  5. Wire up the MPU6050 as detailed above.
 */

 #include "I2Cdev.h"

 #include "MPU6050_6Axis_MotionApps20.h"
-//#include "MPU6050.h" // not necessary if using MotionApps include file

 // Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
 // is used in I2Cdev.h
@@ -56,6 +66,7 @@ class MPU6050Driver : public Usermod {
  private:
    MPU6050 mpu;
    bool enabled = true;
+    unsigned long lastUMRun = millis();

    // MPU control/status vars
    bool dmpReady = false;  // set true if DMP init was successful
@@ -65,47 +76,61 @@ class MPU6050Driver : public Usermod {
    uint16_t fifoCount;     // count of all bytes currently in FIFO
    uint8_t fifoBuffer[64]; // FIFO storage buffer

-    //NOTE: some of these can be removed to save memory, processing time
-    //      if the measurement isn't needed
+  public:
+    // orientation/motion vars
    Quaternion qat;         // [w, x, y, z]         quaternion container
-    float euler[3];         // [psi, theta, phi]    Euler angle container
-    float ypr[3];           // [yaw, pitch, roll]   yaw/pitch/roll container
    VectorInt16 aa;         // [x, y, z]            accel sensor measurements
    VectorInt16 gy;         // [x, y, z]            gyro 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

    static const int INTERRUPT_PIN = 15; // use pin 15 on ESP8266

-  public:
-    //Functions called by WLED
-
-    /*
-     * setup() is called once at boot. WiFi is not yet connected at this point.
-     */
    void setup() {
+      DEBUG_PRINT_IMULN("mpu setup");
      PinManagerPinType pins[2] = { { i2c_scl, true }, { i2c_sda, true } };
      if (!pinManager.allocateMultiplePins(pins, 2, PinOwner::HW_I2C)) { enabled = false; return; }
+
      // join I2C bus (I2Cdev library doesn't do this automatically)
      #if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
-        Wire.begin();
-        Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
+          Wire.begin();
+          Wire.setClock(400000); // 400kHz I2C clock. Comment this line if having compilation difficulties
      #elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
-        Fastwire::setup(400, true);
+          Fastwire::setup(400, true);
      #endif

+      // // initialize serial communication
+      // // (115200 chosen because it is required for Teapot Demo output, but it's
+      // // really up to you depending on your project)
+      // Serial.begin(115200);
+      // while (!Serial); // wait for Leonardo enumeration, others continue immediately
+
+      // NOTE: 8MHz or slower host processors, like the Teensy @ 3.3V or Arduino
+      // Pro Mini running at 3.3V, cannot handle this baud rate reliably due to
+      // the baud timing being too misaligned with processor ticks. You must use
+      // 38400 or slower in these cases, or use some kind of external separate
+      // crystal solution for the UART timer.
+
      // initialize device
-      DEBUG_PRINTLN(F("Initializing I2C devices..."));
+      DEBUG_PRINT_IMULN(F("Initializing I2C devices..."));
      mpu.initialize();
      pinMode(INTERRUPT_PIN, INPUT);

      // verify connection
-      DEBUG_PRINTLN(F("Testing device connections..."));
-      DEBUG_PRINTLN(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
+      DEBUG_PRINT_IMULN(F("Testing device connections..."));
+      DEBUG_PRINT_IMULN(mpu.testConnection() ? F("MPU6050 connection successful") : F("MPU6050 connection failed"));
+
+      // // wait for ready
+      // DEBUG_PRINT_IMULN(F("\nSend any character to begin DMP programming and demo: "));
+      // while (Serial.available() && Serial.read()); // empty buffer
+      // while (!Serial.available());                 // wait for data
+      // while (Serial.available() && Serial.read()); // empty buffer again

      // load and configure the DMP
-      DEBUG_PRINTLN(F("Initializing DMP..."));
+      DEBUG_PRINT_IMULN(F("Initializing DMP..."));
      devStatus = mpu.dmpInitialize();

      // supply your own gyro offsets here, scaled for min sensitivity
@@ -116,77 +141,52 @@ class MPU6050Driver : public Usermod {

      // make sure it worked (returns 0 if so)
      if (devStatus == 0) {
-        // turn on the DMP, now that it's ready
-        DEBUG_PRINTLN(F("Enabling DMP..."));
-        mpu.setDMPEnabled(true);
+          // Calibration Time: generate offsets and calibrate our MPU6050
+          mpu.CalibrateAccel(6);
+          mpu.CalibrateGyro(6);
+          #ifdef WLED_DEBUG
+          mpu.PrintActiveOffsets();
+          #endif
+          // turn on the DMP, now that it's ready
+          DEBUG_PRINT_IMULN(F("Enabling DMP..."));
+          mpu.setDMPEnabled(true);

-        // enable Arduino interrupt detection
-        DEBUG_PRINTLN(F("Enabling interrupt detection (Arduino external interrupt 0)..."));
-        attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
-        mpuIntStatus = mpu.getIntStatus();
+          // enable Arduino interrupt detection
+          DEBUG_PRINT_IMU(F("Enabling interrupt detection (Arduino external interrupt "));
+          DEBUG_PRINT_IMU(digitalPinToInterrupt(INTERRUPT_PIN));
+          DEBUG_PRINT_IMULN(F(")..."));
+          attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), dmpDataReady, RISING);
+          mpuIntStatus = mpu.getIntStatus();

-        // set our DMP Ready flag so the main loop() function knows it's okay to use it
-        DEBUG_PRINTLN(F("DMP ready! Waiting for first interrupt..."));
-        dmpReady = true;
+          // set our DMP Ready flag so the main loop() function knows it's okay to use it
+          DEBUG_PRINT_IMULN(F("DMP ready! Waiting for first interrupt..."));
+          dmpReady = true;

-        // get expected DMP packet size for later comparison
-        packetSize = mpu.dmpGetFIFOPacketSize();
+          // get expected DMP packet size for later comparison
+          packetSize = mpu.dmpGetFIFOPacketSize();
      } else {
-        // ERROR!
-        // 1 = initial memory load failed
-        // 2 = DMP configuration updates failed
-        // (if it's going to break, usually the code will be 1)
-        DEBUG_PRINT(F("DMP Initialization failed (code "));
-        DEBUG_PRINT(devStatus);
-        DEBUG_PRINTLN(F(")"));
+          // ERROR!
+          // 1 = initial memory load failed
+          // 2 = DMP configuration updates failed
+          // (if it's going to break, usually the code will be 1)
+          DEBUG_PRINT_IMU(F("DMP Initialization failed (code "));
+          DEBUG_PRINT_IMU(devStatus);
+          DEBUG_PRINT_IMULN(F(")"));
      }
    }

-    /*
-     * connected() is called every time the WiFi is (re)connected
-     * Use it to initialize network interfaces
-     */
    void connected() {
-      //DEBUG_PRINTLN("Connected to WiFi!");
    }


-    /*
-     * loop() is called continuously. Here you can check for events, read sensors, etc.
-     */
    void loop() {
      // if programming failed, don't try to do anything
-      if (!enabled || !dmpReady || strip.isUpdating()) return;
-
-      // wait for MPU interrupt or extra packet(s) available
-      if (!mpuInterrupt && fifoCount < packetSize) return;
-
-      // reset interrupt flag and get INT_STATUS byte
-      mpuInterrupt = false;
-      mpuIntStatus = mpu.getIntStatus();
-
-      // get current FIFO count
-      fifoCount = mpu.getFIFOCount();
-
-      // check for overflow (this should never happen unless our code is too inefficient)
-      if ((mpuIntStatus & 0x10) || fifoCount == 1024) {
-        // reset so we can continue cleanly
-        mpu.resetFIFO();
-        DEBUG_PRINTLN(F("FIFO overflow!"));
-
-        // otherwise, check for DMP data ready interrupt (this should happen frequently)
-      } else if (mpuIntStatus & 0x02) {
-        // wait for correct available data length, should be a VERY short wait
-        while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
-
-        // read a packet from FIFO
-        mpu.getFIFOBytes(fifoBuffer, packetSize);
-
-        // track FIFO count here in case there is > 1 packet available
-        // (this lets us immediately read more without waiting for an interrupt)
-        fifoCount -= packetSize;
-
+      if (!enabled || (strip.isUpdating() && (millis() - lastUMRun < 2))) return;   // be nice, but not too nice
+      lastUMRun = millis();                    // update time keeping

+      if (!dmpReady) return;
+      // read a packet from FIFO
+      if (mpu.dmpGetCurrentFIFOPacket(fifoBuffer)) { // Get the Latest packet 
        //NOTE: some of these can be removed to save memory, processing time
        //      if the measurement isn't needed
        mpu.dmpGetQuaternion(&qat, fifoBuffer);
@@ -200,25 +200,24 @@ class MPU6050Driver : public Usermod {
      }
    }

-
-
    void addToJsonInfo(JsonObject& root)
    {
-      int reading = 20;
-      //this code adds "u":{"Light":[20," lux"]} to the info object
      JsonObject user = root["u"];
      if (user.isNull()) user = root.createNestedObject("u");

-      JsonArray imu_meas = user.createNestedObject("IMU");
+      StaticJsonDocument<600> doc; //measured 528
+
+      JsonObject imu_meas = doc.createNestedObject("IMU");
+      #ifdef WLED_DEBUG
      JsonArray quat_json = imu_meas.createNestedArray("Quat");
      quat_json.add(qat.w);
      quat_json.add(qat.x);
      quat_json.add(qat.y);
      quat_json.add(qat.z);
      JsonArray euler_json = imu_meas.createNestedArray("Euler");
-      euler_json.add(euler[0]);
-      euler_json.add(euler[1]);
-      euler_json.add(euler[2]);
+      euler_json.add(euler[0] * 180/M_PI);
+      euler_json.add(euler[1] * 180/M_PI);
+      euler_json.add(euler[2] * 180/M_PI);
      JsonArray accel_json = imu_meas.createNestedArray("Accel");
      accel_json.add(aa.x);
      accel_json.add(aa.y);
@@ -227,10 +226,6 @@ class MPU6050Driver : public Usermod {
      gyro_json.add(gy.x);
      gyro_json.add(gy.y);
      gyro_json.add(gy.z);
-      JsonArray world_json = imu_meas.createNestedArray("WorldAccel");
-      world_json.add(aaWorld.x);
-      world_json.add(aaWorld.y);
-      world_json.add(aaWorld.z);
      JsonArray real_json = imu_meas.createNestedArray("RealAccel");
      real_json.add(aaReal.x);
      real_json.add(aaReal.y);
@@ -239,49 +234,54 @@ class MPU6050Driver : public Usermod {
      grav_json.add(gravity.x);
      grav_json.add(gravity.y);
      grav_json.add(gravity.z);
-      JsonArray orient_json = imu_meas.createNestedArray("Orientation");
-      orient_json.add(ypr[0]);
-      orient_json.add(ypr[1]);
-      orient_json.add(ypr[2]);
+      #endif
+      JsonArray world_json = imu_meas.createNestedArray("WorldAccel");
+      world_json.add(aaWorld.x);
+      world_json.add(aaWorld.y);
+      world_json.add(aaWorld.z);
+      JsonArray orient_json = imu_meas.createNestedArray("YPR");
+      orient_json.add(ypr[0] * 180/M_PI);
+      orient_json.add(ypr[1] * 180/M_PI);
+      orient_json.add(ypr[2] * 180/M_PI);
+ 
+      char stringBuffer[300]; // measured 266
+      serializeJson(imu_meas, stringBuffer);
+      JsonArray mainObject = user.createNestedArray("IMU");
+      mainObject.add(stringBuffer);
+
+      // Serial.printf("imu_meas %u (%u %u) stringBuffer %u\n", (unsigned int)imu_meas.memoryUsage(), (unsigned int)imu_meas.size(), (unsigned int)imu_meas.nesting(), strlen(stringBuffer));
+
    }


-    /*
-     * addToJsonState() can be used to add custom entries to the /json/state part of the JSON API (state object).
-     * Values in the state object may be modified by connected clients
-     */
    //void addToJsonState(JsonObject& root)
    //{
-      //root["user0"] = userVar0;
    //}

-
-    /*
-     * readFromJsonState() can be used to receive data clients send to the /json/state part of the JSON API (state object).
-     * Values in the state object may be modified by connected clients
-     */
    //void readFromJsonState(JsonObject& root)
    //{
-      //if (root["bri"] == 255) DEBUG_PRINTLN(F("Don't burn down your garage!"));
    //}

+  //  void addToConfig(JsonObject& root)
+  //  {
+  //   JsonObject top = root.createNestedObject("MPU6050");
+  //   top[FPSTR("enabled")] = enabled;

-    /*
-     * addToConfig() can be used to add custom persistent settings to the cfg.json file in the "um" (usermod) object.
-     * It will be called by WLED when settings are actually saved (for example, LED settings are saved)
-     * I highly recommend checking out the basics of ArduinoJson serialization and deserialization in order to use custom settings!
-     */
-//    void addToConfig(JsonObject& root)
-//    {
-//      JsonObject top = root.createNestedObject("MPU6050_IMU");
-//      JsonArray pins = top.createNestedArray("pin");
-//      pins.add(HW_PIN_SCL);
-//      pins.add(HW_PIN_SDA);
-//    }
+  //   JsonObject interruptPin = top.createNestedObject(FPSTR("interruptPin"));
+  //   interruptPin["pin"] = interruptPin;
+  //  }
+
+  //   bool readFromConfig(JsonObject& root)
+  //   {
+  //     JsonObject top = root[FPSTR("MPU6050")];
+  //     bool configComplete = !top.isNull();
+
+  //     configComplete &= getJsonValue(top[FPSTR("enabled")], enabled);
+  //     configComplete &= getJsonValue(top[FPSTR("interruptPin")]["pin"], interruptPin);
+
+  //     return configComplete;
+  //   }

-    /*
-     * getId() allows you to optionally give your V2 usermod an unique ID (please define it in const.h!).
-     */
    uint16_t getId()
    {
      return USERMOD_ID_IMU;
--- a/usermods/usermod_v2_games/usermod_v2_games.h
+++ b/usermods/usermod_v2_games/usermod_v2_games.h
@@ -1,25 +1,19 @@
+/*
+  Games usermod by ewowi, september 2022
+
+  Contains:
+    - mode_pongGame
+    - Depending on USERMOD_MPU6050_IMU
+      - mode_IMUTest (shows IMU values only if WLED_DEBUG)
+    - class Frame3D and struct Voxel
+    - mode_3DIMUCube (uses class Frame3D to show a rotating cube, if USERMOD_MPU6050_IMU then IMU used for rotation)
+    - class GamesUsermod (Add the modes/effects and initiates IMU)
+*/
+
 #pragma once

 #include "wled.h"

-/*
- * Usermods allow you to add own functionality to WLED more easily
- * See: https://github.com/Aircoookie/WLED/wiki/Add-own-functionality
- * 
- * This is an example for a v2 usermod.
- * v2 usermods are class inheritance based and can (but don't have to) implement more functions, each of them is shown in this example.
- * Multiple v2 usermods can be added to one compilation easily.
- * 
- * Creating a usermod:
- * This file serves as an example. If you want to create a usermod, it is recommended to use usermod_v2_empty.h from the usermods folder as a template.
- * Please remember to rename the class and file to a descriptive name.
- * You may also use multiple .h and .cpp files.
- * 
- * Using a usermod:
- * 1. Copy the usermod into the sketch folder (same folder as wled00.ino)
- * 2. Register the usermod by adding #include "usermod_filename.h" in the top and registerUsermod(new MyUsermodClass()) in the bottom of usermods_list.cpp
- */
-
 //inspired by https://noobtuts.com/cpp/2d-pong-game
 typedef struct PongBall {
  float x;// = SEGMENT.virtualWidth() / 2;
@@ -181,94 +175,170 @@ uint16_t mode_pongGame(void) {
 static const char _data_FX_MODE_PONGGAME[] PROGMEM = "🎮 Pong@!;!;!;2d";

 //https://howtomechatronics.com/tutorials/arduino/arduino-and-mpu6050-accelerometer-and-gyroscope-tutorial/
-#define MPU_ADDR 0x68 // I2C address of the MPU-6050. If AD0 pin is set to HIGH, the I2C address will be 0x69.
-int16_t accelerometer_x, accelerometer_y, accelerometer_z; // variables for accelerometer raw data
-int16_t gyro_x, gyro_y, gyro_z; // variables for gyro raw data
-int16_t temperature; // variables for temperature data

-uint16_t mode_gyro(void) { 
+#ifdef USERMOD_MPU6050_IMU
+MPU6050Driver *IMU = nullptr;
+uint16_t mode_IMUTest(void) { 
  SEGMENT.fill(BLACK);

  uint8_t y = 0;

-  SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (accelerometer_x+INT16_MAX)/(2*INT16_MAX), y+=2, BLUE);
-  SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (accelerometer_y+INT16_MAX)/(2*INT16_MAX), y+=2, BLUE);
-  SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (accelerometer_z+INT16_MAX)/(2*INT16_MAX), y+=2, BLUE);
-  SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (gyro_x+INT16_MAX)/(2*INT16_MAX), y+=2, BLUE);
-  SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (gyro_y+INT16_MAX)/(2*INT16_MAX), y+=2, BLUE);
-  SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (gyro_z+INT16_MAX)/(2*INT16_MAX), y+=2, BLUE);
+  if (IMU != nullptr) {
+    SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (IMU->aa.x+INT16_MAX)/(2*INT16_MAX), y+=1, BLUE);
+    SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (IMU->aa.y+INT16_MAX)/(2*INT16_MAX), y+=1, BLUE);
+    SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (IMU->aa.z+INT16_MAX)/(2*INT16_MAX), y+=1, BLUE);
+    
+    SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (IMU->aaReal.x+INT16_MAX)/(2*INT16_MAX), y+=1, BLUE);
+    SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (IMU->aaReal.y+INT16_MAX)/(2*INT16_MAX), y+=1, BLUE);
+    SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (IMU->aaReal.z+INT16_MAX)/(2*INT16_MAX), y+=1, BLUE);
+    
+    SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (IMU->gy.x+1024)/(2*1024), y+=1, RED);
+    SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (IMU->gy.y+1024)/(2*1024), y+=1, RED);
+    SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (IMU->gy.z+1024)/(2*1024), y+=1, RED);
+
+    SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (IMU->aaWorld.x+INT16_MAX)/(2*INT16_MAX), y+=1, BLUE);
+    SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (IMU->aaWorld.y+INT16_MAX)/(2*INT16_MAX), y+=1, BLUE);
+    SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (IMU->aaWorld.z+INT16_MAX)/(2*INT16_MAX), y+=1, BLUE);
+    
+    SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (IMU->ypr[0]* 180/M_PI+180)/(2*180), y+=1, RED);
+    SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (IMU->ypr[1]* 180/M_PI+180)/(2*180), y+=1, RED);
+    SEGMENT.setPixelColorXY(SEGMENT.virtualWidth() * (IMU->ypr[2]* 180/M_PI+180)/(2*180), y+=1, RED);
+  }

  return FRAMETIME;
 }
-static const char _data_FX_MODE_GYRO[] PROGMEM = "🎮 Gyro@!;!;!;2d";
+static const char _data_FX_MODE_IMUTest[] PROGMEM = "🎮 IMUTest@;;;2d";

-#ifndef FLD_PIN_SCL
-  #define FLD_PIN_SCL i2c_scl
-#endif
-#ifndef FLD_PIN_SDA
-  #define FLD_PIN_SDA i2c_sda
 #endif

+//WLEDSR 3D to 2D mapping
+struct Voxel {
+  float x;
+  float y;
+  float z;
+  uint32_t col;
+};
+
+class Frame3D {
+  private:
+    std::vector<Voxel> points;
+    void rotate(float a, float b, float angle, float &x, float &y) {
+      x = cosf(angle) * a - sinf(angle) * b;
+      y = sinf(angle) * a + cosf(angle) * b;
+    }
+    float yaw;
+    float pitch; 
+    float roll;
+  public:
+    Frame3D(float yaw1, float pitch1, float roll1) {
+      points.clear();
+      yaw = yaw1;
+      pitch = pitch1;
+      roll = roll1;
+    }
+    ~Frame3D() {
+      std::sort(points.begin(), points.end(), [](const Voxel &lhs, const Voxel &rhs) {return lhs.z > rhs.z;});
+      for(size_t i = 0; i < points.size(); ++i) {
+        float w = 0.5;//SEGMENT.virtualWidth()/2;
+        float h = 0.5;//SEGMENT.virtualHeight()/2;
+        float perspective = SEGMENT.intensity / 64.0;
+        if(points[i].z > 0) {
+          float projX, projY;
+          projX = w+points[i].x/points[i].z*perspective;
+          projY = h+points[i].y/points[i].z*perspective;
+          SEGMENT.setPixelColorXY(projX, projY, points[i].col, false); //no aa
+        }
+      }
+    }
+    void setPixelColorXYZ(Voxel voxel) {
+      float camx = 0;
+      float camy = 0;
+      float camz = -6;
+      rotate(voxel.x,voxel.z,yaw, voxel.x, voxel.z); // Camera yaw
+      rotate(voxel.y,voxel.z,pitch, voxel.y, voxel.z); // Camera pitch
+      rotate(voxel.x,voxel.y,roll, voxel.x, voxel.y); // Camera roll
+      voxel.x -= camx;
+      voxel.y -= camy;
+      voxel.z -= camz;
+      points.push_back(voxel);
+    }
+    void drawLineXYZ(Voxel from, Voxel to, uint32_t col) {
+      for (float x=MIN(from.x, to.x); x<=MAX(from.x, to.x); x+=.05)
+        for (float y=MIN(from.y, to.y); y<=MAX(from.y, to.y); y+=.05)
+          for (float z=MIN(from.z, to.z); z<=MAX(from.z, to.z); z+=.05)
+            setPixelColorXYZ({x, y, z, col});
+    }
+};
+
+uint16_t mode_3DIMUCube(void) { 
+  SEGMENT.fill(BLACK);
+
+  float yaw = 0;
+  float pitch = 0; 
+  float roll = 0;
+
+  #ifdef USERMOD_MPU6050_IMU
+    if (IMU != nullptr) {
+      yaw = -IMU->ypr[0];
+      pitch = IMU->ypr[1];
+      roll = IMU->ypr[2];
+    }
+  #else
+    //simulate rotation
+    yaw = (fmod(SEGENV.call, 360)-180) / (180/M_PI); //-180 .. 180
+    pitch = yaw;
+    roll = yaw;
+  #endif
+
+  Frame3D frame3D = Frame3D(yaw, pitch, roll);
+
+  Voxel leftbottomback = {-1,-1,-1};
+  Voxel rightbottomback = {1,-1,-1};
+  Voxel lefttopback = {-1,1,-1};
+  Voxel righttopback = {1,1,-1};
+  Voxel leftbottomfront = {-1,-1,1};
+  Voxel rightbottomfront = {1,-1,1};
+  Voxel lefttopfront = {-1,1,1};
+  Voxel righttopfront = {1,1,1};
+  frame3D.drawLineXYZ(leftbottomback, rightbottomback, SEGMENT.color_from_palette(255/12, false, true, 0));
+  frame3D.drawLineXYZ(leftbottomback, lefttopback, SEGMENT.color_from_palette(255/12*2, false, true, 0));
+  frame3D.drawLineXYZ(rightbottomback, righttopback, SEGMENT.color_from_palette(255/12*3, false, true, 0));
+  frame3D.drawLineXYZ(lefttopback, righttopback, SEGMENT.color_from_palette(255/12*4, false, true, 0));
+
+  frame3D.drawLineXYZ(leftbottomfront, leftbottomback, SEGMENT.color_from_palette(255/12*9, false, true, 0));
+  frame3D.drawLineXYZ(rightbottomfront, rightbottomback, SEGMENT.color_from_palette(255/12*10, false, true, 0));
+  frame3D.drawLineXYZ(lefttopfront, lefttopback, SEGMENT.color_from_palette(255/12*11, false, true, 0));
+  frame3D.drawLineXYZ(righttopfront, righttopback, SEGMENT.color_from_palette(255/12*12, false, true, 0));
+
+  frame3D.drawLineXYZ(leftbottomfront, rightbottomfront, SEGMENT.color_from_palette(255/12*5, false, true, 0));
+  frame3D.drawLineXYZ(leftbottomfront, lefttopfront, SEGMENT.color_from_palette(255/12*6, false, true, 0));
+  frame3D.drawLineXYZ(rightbottomfront, righttopfront, SEGMENT.color_from_palette(255/12*7, false, true, 0));
+  frame3D.drawLineXYZ(lefttopfront, righttopfront, SEGMENT.color_from_palette(255/12*8, false, true, 0));
+
+  return FRAMETIME;
+}
+static const char _data_FX_MODE_3DIMUCube[] PROGMEM = "🎮 3DIMUCube@,Perspective;!;!;,pal=1,2d"; //random cycle

 class GamesUsermod : public Usermod {
  private:
-    bool enabled = true;
-    int8_t ioPin[5] = {FLD_PIN_SCL, FLD_PIN_SDA, -1, -1, -1};        // I2C pins: SCL, SDA
-    unsigned long lastUMRun = millis();

  public:
-    //Functions called by WLED

    void setup() {
-      bool isHW;
-      PinOwner po = PinOwner::UM_Unspecified;
-      uint8_t hw_scl = i2c_scl<0 ? HW_PIN_SCL : i2c_scl;
-      uint8_t hw_sda = i2c_sda<0 ? HW_PIN_SDA : i2c_sda;
-      if (ioPin[0] < 0 || ioPin[1] < 0) {
-        ioPin[0] = hw_scl;
-        ioPin[1] = hw_sda;
-      }
-      isHW = (ioPin[0]==hw_scl && ioPin[1]==hw_sda);
-      if (isHW) po = PinOwner::HW_I2C;  // allow multiple allocations of HW I2C bus pins
-      PinManagerPinType pins[2] = { {ioPin[0], true }, { ioPin[1], true } };
-      if (!pinManager.allocateMultiplePins(pins, 2, po)) { enabled = false; return; }
-      // PinManagerPinType pins[2] = { { i2c_scl, true }, { i2c_sda, true } };
-      // if (!pinManager.allocateMultiplePins(pins, 2, PinOwner::HW_I2C)) { enabled = false; return; }
-      Wire.begin();
-      Wire.beginTransmission(MPU_ADDR); // Begins a transmission to the I2C slave (GY-521 board)
-      Wire.write(0x6B); // PWR_MGMT_1 register
-      Wire.write(0); // set to zero (wakes up the MPU-6050)
-      Wire.endTransmission(true);
-
      strip.addEffect(255, &mode_pongGame, _data_FX_MODE_PONGGAME);
-      strip.addEffect(255, &mode_gyro, _data_FX_MODE_GYRO);
+      #ifdef USERMOD_MPU6050_IMU
+        IMU = (MPU6050Driver *)usermods.lookup(USERMOD_ID_IMU);
+        #ifdef WLED_DEBUG
+          strip.addEffect(255, &mode_IMUTest, _data_FX_MODE_IMUTest);
+        #endif
+      #endif
+      strip.addEffect(255, &mode_3DIMUCube, _data_FX_MODE_3DIMUCube); //works also without IMU
    }

-    /*
-     * connected() is called every time the WiFi is (re)connected
-     * Use it to initialize network interfaces
-     */
    void connected() {
-      //Serial.println("Connected to WiFi!");
    }

    void loop() {
-      if (!enabled || (strip.isUpdating() && (millis() - lastUMRun < 2))) return;   // be nice, but not too nice
-      lastUMRun = millis();                    // update time keeping
-
-      Wire.beginTransmission(MPU_ADDR);
-      Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H) [MPU-6000 and MPU-6050 Register Map and Descriptions Revision 4.2, p.40]
-      Wire.endTransmission(false); // the parameter indicates that the Arduino will send a restart. As a result, the connection is kept active.
-      Wire.requestFrom(MPU_ADDR, 7*2); // request a total of 7*2=14 registers
-      
-      // "Wire.read()<<8 | Wire.read();" means two registers are read and stored in the same variable
-      accelerometer_x = Wire.read()<<8 | Wire.read(); // reading registers: 0x3B (ACCEL_XOUT_H) and 0x3C (ACCEL_XOUT_L)
-      accelerometer_y = Wire.read()<<8 | Wire.read(); // reading registers: 0x3D (ACCEL_YOUT_H) and 0x3E (ACCEL_YOUT_L)
-      accelerometer_z = Wire.read()<<8 | Wire.read(); // reading registers: 0x3F (ACCEL_ZOUT_H) and 0x40 (ACCEL_ZOUT_L)
-      temperature = Wire.read()<<8 | Wire.read(); // reading registers: 0x41 (TEMP_OUT_H) and 0x42 (TEMP_OUT_L)
-      gyro_x = Wire.read()<<8 | Wire.read(); // reading registers: 0x43 (GYRO_XOUT_H) and 0x44 (GYRO_XOUT_L)
-      gyro_y = Wire.read()<<8 | Wire.read(); // reading registers: 0x45 (GYRO_YOUT_H) and 0x46 (GYRO_YOUT_L)
-      gyro_z = Wire.read()<<8 | Wire.read(); // reading registers: 0x47 (GYRO_ZOUT_H) and 0x48 (GYRO_ZOUT_L)
    }

    void addToJsonState(JsonObject& root)
--- a/wled00/usermods_list.cpp
+++ b/wled00/usermods_list.cpp
@@ -136,6 +136,9 @@
 #include "../usermods/audioreactive/audio_reactive.h"
 #endif

+#ifdef USERMOD_MPU6050_IMU
+#include "../usermods/mpu6050_imu/usermod_mpu6050_imu.h"
+#endif
 #ifdef USERMOD_GAMES
 #include "../usermods/usermod_v2_games/usermod_v2_games.h"
 #endif
@@ -263,6 +266,11 @@ void registerUsermods()
  #ifdef USERMOD_AUDIOREACTIVE
  usermods.add(new AudioReactive());
  #endif
+
+  #ifdef USERMOD_MPU6050_IMU
+  usermods.add(new MPU6050Driver());
+  #endif
+
  #ifdef USERMOD_GAMES
  usermods.add(new GamesUsermod());
  #endif