From 5e3d35b0b887604c1c4e64344f54c7a7ac20d4f5 Mon Sep 17 00:00:00 2001
From: ewowi <ewowi@icloud.com>
Date: Tue, 10 Feb 2026 21:30:42 +0100
Subject: [PATCH 1/5] add MPU6050 driver

pio.ini: add MPU6050 driver

backend
=======
- NodeManager: send onUpdate to node when on/off changed
- Nodes: add sharedData.gravity, add D_MPU6050.h
- Module Drivers: add D_MPU6050.h
- D_MPU6050.h: New
- Effects: particles: add gyro
---
 platformio.ini                            |   3 +-
 src/MoonBase/NodeManager.h                |   1 +
 src/MoonBase/Nodes.h                      |   3 +
 src/MoonLight/Modules/ModuleDrivers.h     |   2 +
 src/MoonLight/Nodes/Drivers/D_MPU6050.h   | 140 ++++++++++++++++++++++
 src/MoonLight/Nodes/Effects/E_MoonLight.h |  14 +--
 6 files changed, 151 insertions(+), 12 deletions(-)
 create mode 100644 src/MoonLight/Nodes/Drivers/D_MPU6050.h

diff --git a/platformio.ini b/platformio.ini
index d4e05a8b..d85ef069 100644
--- a/platformio.ini
+++ b/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_MPU6050 driver
 
 ;💫
 [moonlight]
diff --git a/src/MoonBase/NodeManager.h b/src/MoonBase/NodeManager.h
index 57e70068..9208e00b 100644
--- a/src/MoonBase/NodeManager.h
+++ b/src/MoonBase/NodeManager.h
@@ -264,6 +264,7 @@ 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());
+            nodeClass->onUpdate(updatedItem.oldValue, nodeState);  // custom onUpdate for the node
             nodeClass->requestMappings();
           } else
             EXT_LOGW(ML_TAG, "Nodeclass %s not found", nodeState["name"].as<const char*>());
diff --git a/src/MoonBase/Nodes.h b/src/MoonBase/Nodes.h
index 97fc6c22..38540877 100644
--- a/src/MoonBase/Nodes.h
+++ b/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_MPU6050.h"
   #include "MoonLight/Nodes/Drivers/D_ParallelLEDDriver.h"
   #include "MoonLight/Nodes/Drivers/D__Sandbox.h"
   #include "MoonLight/Nodes/Effects/E_FastLED.h"
diff --git a/src/MoonLight/Modules/ModuleDrivers.h b/src/MoonLight/Modules/ModuleDrivers.h
index 40dfeb3e..18664b93 100644
--- a/src/MoonLight/Modules/ModuleDrivers.h
+++ b/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<MPU6050Driver>());
     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<MPU6050Driver>(name);
     if (!node) node = checkAndAlloc<HUB75Driver>(name);
 
     // board preset specific
diff --git a/src/MoonLight/Nodes/Drivers/D_MPU6050.h b/src/MoonLight/Nodes/Drivers/D_MPU6050.h
new file mode 100644
index 00000000..c38bfd68
--- /dev/null
+++ b/src/MoonLight/Nodes/Drivers/D_MPU6050.h
@@ -0,0 +1,140 @@
+/**
+    @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 MPU6050Driver : public Node {
+ public:
+  static const char* name() { return "MPU6050 driver"; }
+  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;
+  VectorFloat gravityVector;
+
+  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
+  }
+
+  bool initI2S() {
+    // tbd: set pins in ui!!
+    // allocatePin(21, "Pins", "I2S SDA");
+    // allocatePin(22, "Pins", "I2S SCL");
+    bool success = Wire.begin(5, 6);
+    EXT_LOGI(ML_TAG, "initI2S Wire begin %s", success ? "success" : "failure");
+    return success;
+  }
+
+  void onUpdate(const Char<20>& oldValue, const JsonObject& control) {
+    // add your custom onUpdate code here
+    if (!control["on"].isNull()) { // control is the node n case of on!
+      if (control["on"] == true) {
+        if (initI2S()) {
+          mpu.initialize();
+
+          // 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_LOGI(ML_TAG, "DMP Initialization failed (code %d)", devStatus);
+            }
+          } else
+            EXT_LOGI(ML_TAG, "Testing device connections MPU6050 connection failed");
+        }
+      }
+    }
+  }
+
+  bool hasOnLayout() const override { return true; }  // so the mapping system knows this node has onLayout, eg each time a modifier changes
+  void onLayout() override {};                        // onLayout for drivers is used to init or update the driver based on the layouts, a driver will use the layout nodes which are defined before the driver node, so order matters
+
+  // use for continuous actions, e.g. reading data from sensors or sending data to lights (e.g. LED drivers or Art-Net)
+  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 (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;
+      sharedData.gravity.y = gravity.y;
+      sharedData.gravity.z = gravity.z;
+      // display real acceleration, adjusted to remove gravity
+
+      // 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;
+    }
+  };
+
+  ~MPU6050Driver() override {};  // e.g. to free allocated memory
+
+ private:
+  MPU6050 mpu;
+
+  // MPU control/status vars
+  uint8_t devStatus;       // return status after each device operation (0 = success, !0 = error)
+  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
\ No newline at end of file
diff --git a/src/MoonLight/Nodes/Effects/E_MoonLight.h b/src/MoonLight/Nodes/Effects/E_MoonLight.h
index 577500c2..7e9beb1b 100644
--- a/src/MoonLight/Nodes/Effects/E_MoonLight.h
+++ b/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) {

From 66f1d6de28f2237ad79df7d1263d7cb1d557f853 Mon Sep 17 00:00:00 2001
From: ewowi <ewowi@icloud.com>
Date: Wed, 11 Feb 2026 11:17:16 +0100
Subject: [PATCH 2/5] MPU6050 driver to IMU driver

Change MPU6050 driver to IMU driver and add board control (MPU6050 and BMI160)
I2S -< I2C, including safety delays - WIP
add scanI2C
---
 platformio.ini                                |   2 +-
 src/MoonBase/Nodes.h                          |   2 +-
 src/MoonLight/Modules/ModuleDrivers.h         |   4 +-
 .../Nodes/Drivers/{D_MPU6050.h => D_IMU.h}    | 147 +++++++++++-------
 src/MoonLight/Nodes/Drivers/D__Sandbox.h      |   2 +-
 src/MoonLight/Nodes/Effects/E__Sandbox.h      |   2 +-
 6 files changed, 97 insertions(+), 62 deletions(-)
 rename src/MoonLight/Nodes/Drivers/{D_MPU6050.h => D_IMU.h} (50%)

diff --git a/platformio.ini b/platformio.ini
index d85ef069..ab943936 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -142,7 +142,7 @@ extra_scripts =
 lib_deps = 
 	ArduinoJson@>=7.0.0
   elims/PsychicMqttClient@^0.2.4
-  ElectronicCats/MPU6050 @ 1.3.0 ; for D_MPU6050 driver
+  ElectronicCats/MPU6050 @ 1.3.0 ; for D_IMU.h driver
 
 ;💫
 [moonlight]
diff --git a/src/MoonBase/Nodes.h b/src/MoonBase/Nodes.h
index 38540877..f13272bd 100644
--- a/src/MoonBase/Nodes.h
+++ b/src/MoonBase/Nodes.h
@@ -362,7 +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_MPU6050.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"
diff --git a/src/MoonLight/Modules/ModuleDrivers.h b/src/MoonLight/Modules/ModuleDrivers.h
index 18664b93..d574aa7b 100644
--- a/src/MoonLight/Modules/ModuleDrivers.h
+++ b/src/MoonLight/Modules/ModuleDrivers.h
@@ -106,7 +106,7 @@ class ModuleDrivers : public NodeManager {
     addControlValue(control, getNameAndTags<ArtNetOutDriver>());
     addControlValue(control, getNameAndTags<AudioSyncDriver>());
     addControlValue(control, getNameAndTags<IRDriver>());
-    addControlValue(control, getNameAndTags<MPU6050Driver>());
+    addControlValue(control, getNameAndTags<IMUDriver>());
     addControlValue(control, getNameAndTags<HUB75Driver>());
 
     // board preset specific
@@ -144,7 +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<MPU6050Driver>(name);
+    if (!node) node = checkAndAlloc<IMUDriver>(name);
     if (!node) node = checkAndAlloc<HUB75Driver>(name);
 
     // board preset specific
diff --git a/src/MoonLight/Nodes/Drivers/D_MPU6050.h b/src/MoonLight/Nodes/Drivers/D_IMU.h
similarity index 50%
rename from src/MoonLight/Nodes/Drivers/D_MPU6050.h
rename to src/MoonLight/Nodes/Drivers/D_IMU.h
index c38bfd68..f08973a9 100644
--- a/src/MoonLight/Nodes/Drivers/D_MPU6050.h
+++ b/src/MoonLight/Nodes/Drivers/D_IMU.h
@@ -15,7 +15,7 @@
 
 class MPU6050Driver : public Node {
  public:
-  static const char* name() { return "MPU6050 driver"; }
+  static const char* name() { return "IMU driver"; } // Inertial Measurement Unit
   static uint8_t dim() { return _NoD; }
   static const char* tags() { return "☸️"; }
 
@@ -24,6 +24,7 @@ class MPU6050Driver : public Node {
   Coord3D gyro;  // in degrees (not radians)
   Coord3D accell;
   VectorFloat gravityVector;
+  uint8_t board = 0;
 
   void setup() override {
     // controls will show in the UI
@@ -32,49 +33,79 @@ class MPU6050Driver : public Node {
     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
   }
 
-  bool initI2S() {
+  bool initI2C() {
     // tbd: set pins in ui!!
     // allocatePin(21, "Pins", "I2S SDA");
     // allocatePin(22, "Pins", "I2S SCL");
+    Wire.end();
+    delay(10);
     bool success = Wire.begin(5, 6);
-    EXT_LOGI(ML_TAG, "initI2S Wire begin %s", success ? "success" : "failure");
+    EXT_LOGI(ML_TAG, "initI2C Wire begin %s", success ? "success" : "failure");
+
+    if (success) {
+      delay(200);            // Give I2C bus time to stabilize
+      Wire.setClock(50000);  // Explicitly set to 100kHz
+    }
+
     return success;
   }
 
-  void onUpdate(const Char<20>& oldValue, const JsonObject& control) {
+  void scanI2C() {
+    EXT_LOGI(ML_TAG, "Scanning I2C bus...");
+    byte count = 0;
+    for (byte i = 1; i < 127; i++) {
+      Wire.beginTransmission(i);
+      if (Wire.endTransmission() == 0) {
+        EXT_LOGI(ML_TAG, "Found I2C device at address 0x%02X", i);
+        count++;
+      }
+    }
+    EXT_LOGI(ML_TAG, "Found %d device(s)", count);
+  }
+
+  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"].isNull()) {  // control is the node n case of on!
       if (control["on"] == true) {
-        if (initI2S()) {
-          mpu.initialize();
-
-          // 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_LOGI(ML_TAG, "DMP Initialization failed (code %d)", devStatus);
-            }
-          } else
-            EXT_LOGI(ML_TAG, "Testing device connections MPU6050 connection failed");
+        if (initI2C()) {
+          scanI2C();  // Diagnostic - remove after testing
+
+          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_LOGI(ML_TAG, "DMP Initialization failed (code %d)", devStatus);
+              }
+            } else
+              EXT_LOGI(ML_TAG, "Testing device connections MPU6050 connection failed");
+          }
         }
       }
     }
@@ -92,29 +123,33 @@ class MPU6050Driver : public Node {
     // if programming failed, don't try to do anything
     if (!motionTrackingReady) return;
     // read a packet from FIFO
-    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;
-      sharedData.gravity.y = gravity.y;
-      sharedData.gravity.z = gravity.z;
-      // display real acceleration, adjusted to remove gravity
-
-      // 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;
+    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;
+        sharedData.gravity.y = gravity.y;
+        sharedData.gravity.z = gravity.z;
+        // 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;
+      }
     }
   };
 
diff --git a/src/MoonLight/Nodes/Drivers/D__Sandbox.h b/src/MoonLight/Nodes/Drivers/D__Sandbox.h
index 94a803ee..a7c5b956 100644
--- a/src/MoonLight/Nodes/Drivers/D__Sandbox.h
+++ b/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) {
diff --git a/src/MoonLight/Nodes/Effects/E__Sandbox.h b/src/MoonLight/Nodes/Effects/E__Sandbox.h
index 56721fd7..3c87ed26 100644
--- a/src/MoonLight/Nodes/Effects/E__Sandbox.h
+++ b/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) {

From 48e3647f97d2d5f8473bf507f2571a90811700a8 Mon Sep 17 00:00:00 2001
From: ewowi <ewowi@icloud.com>
Date: Wed, 11 Feb 2026 13:16:04 +0100
Subject: [PATCH 3/5] Move I2C mgmt to Module IO (from IMU driver)

ModuleIO
- Include Wire
- Add controls i2cFreq and i2cBus
- default assign sda to pin 21 and scl to pin 22
- readPins: add I2C pin assignment
- add updateDevices: Scanning I2C bus and send frequency and addresses to UI

IMU driver
- remove initI2C and scan I2C
- gravity xyz float to int correction - WIP
---
 src/MoonBase/Modules/ModuleIO.h     | 68 ++++++++++++++++++++++++++++-
 src/MoonLight/Nodes/Drivers/D_IMU.h | 49 ++++-----------------
 2 files changed, 76 insertions(+), 41 deletions(-)

diff --git a/src/MoonBase/Modules/ModuleIO.h b/src/MoonBase/Modules/ModuleIO.h
index 93bf2335..37b3c927 100644
--- a/src/MoonBase/Modules/ModuleIO.h
+++ b/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, true);
+
+    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 +575,8 @@ class ModuleIO : public Module {
   #else
       pinAssigner.assignPin(16, pin_LED);
   #endif
+      pinAssigner.assignPin(21, pin_I2C_SDA);
+      pinAssigner.assignPin(22, pin_I2C_SCL);
 
       // trying to add more pins, but these pins not liked by esp32-d0-16MB ... 🚧
       // pinAssigner.assignPin(4, pin_LED_02;
@@ -790,7 +803,31 @@ 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) {
+      if (Wire.begin(pinI2CSDA, pinI2CSCL)) {
+        EXT_LOGI(ML_TAG, "initI2C Wire sda:%d scl:%d", pinI2CSDA, pinI2CSCL);
+        // delay(200);            // Give I2C bus time to stabilize
+        // Wire.setClock(50000);  // Explicitly set to 100kHz
+      } 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;
@@ -865,6 +902,35 @@ class ModuleIO : public Module {
       }
     }
   #endif
+    if (pinI2CSCL != UINT8_MAX && pinI2CSDA != UINT8_MAX) {
+      updateDevices();
+    }
+  }
+
+  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();
+
+    update(newState, ModuleState::update, _moduleName);
   }
 
  private:
diff --git a/src/MoonLight/Nodes/Drivers/D_IMU.h b/src/MoonLight/Nodes/Drivers/D_IMU.h
index f08973a9..699927f4 100644
--- a/src/MoonLight/Nodes/Drivers/D_IMU.h
+++ b/src/MoonLight/Nodes/Drivers/D_IMU.h
@@ -13,9 +13,9 @@
 
   #include <MPU6050_6Axis_MotionApps20.h>
 
-class MPU6050Driver : public Node {
+class IMUDriver : public Node {
  public:
-  static const char* name() { return "IMU driver"; } // Inertial Measurement Unit
+  static const char* name() { return "IMU driver"; }  // Inertial Measurement Unit
   static uint8_t dim() { return _NoD; }
   static const char* tags() { return "☸️"; }
 
@@ -35,46 +35,15 @@ class MPU6050Driver : public Node {
     // isEnabled = false;  // need to enable after fresh setup
     addControl(board, "board", "select");
     addControlValue("MPU6050");
-    addControlValue("BMI160"); // not supported yet
-  }
-
-  bool initI2C() {
-    // tbd: set pins in ui!!
-    // allocatePin(21, "Pins", "I2S SDA");
-    // allocatePin(22, "Pins", "I2S SCL");
-    Wire.end();
-    delay(10);
-    bool success = Wire.begin(5, 6);
-    EXT_LOGI(ML_TAG, "initI2C Wire begin %s", success ? "success" : "failure");
-
-    if (success) {
-      delay(200);            // Give I2C bus time to stabilize
-      Wire.setClock(50000);  // Explicitly set to 100kHz
-    }
-
-    return success;
-  }
-
-  void scanI2C() {
-    EXT_LOGI(ML_TAG, "Scanning I2C bus...");
-    byte count = 0;
-    for (byte i = 1; i < 127; i++) {
-      Wire.beginTransmission(i);
-      if (Wire.endTransmission() == 0) {
-        EXT_LOGI(ML_TAG, "Found I2C device at address 0x%02X", i);
-        count++;
-      }
-    }
-    EXT_LOGI(ML_TAG, "Found %d device(s)", count);
+    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) {
-        if (initI2C()) {
-          scanI2C();  // Diagnostic - remove after testing
-
+        bool i2cInited = true;  // todo: check in moduleIO if successfull
+        if (i2cInited) {
           if (board == 0) {  // MPU6050
             mpu.initialize();
 
@@ -131,9 +100,9 @@ class MPU6050Driver : public Node {
         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;
-        sharedData.gravity.y = gravity.y;
-        sharedData.gravity.z = gravity.z;
+        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);
@@ -153,7 +122,7 @@ class MPU6050Driver : public Node {
     }
   };
 
-  ~MPU6050Driver() override {};  // e.g. to free allocated memory
+  ~IMUDriver() override {};  // e.g. to free allocated memory
 
  private:
   MPU6050 mpu;

From 77d11ecfb8e2b78e800bc82e5fb0ec31adcd3427 Mon Sep 17 00:00:00 2001
From: ewowi <ewowi@icloud.com>
Date: Wed, 11 Feb 2026 14:09:15 +0100
Subject: [PATCH 4/5] Module IO and IMU driver tweaks

Module IO
- setup, onUpdate: i2cFreq is modifyable (in kHz)
- setBoardPresetDefaults: i2c default 21,22 on esp32d0 and 8, 9 on others - wip
- readPins: reinit Wire after i2c pins changed, using freq, and updateDevices(not every s)

IMU module
- remove gravityVector
---
 src/MoonBase/Modules/ModuleIO.h     | 21 ++++++++++++++-------
 src/MoonBase/NodeManager.h          |  2 ++
 src/MoonLight/Nodes/Drivers/D_IMU.h | 20 +++++++-------------
 3 files changed, 23 insertions(+), 20 deletions(-)

diff --git a/src/MoonBase/Modules/ModuleIO.h b/src/MoonBase/Modules/ModuleIO.h
index 37b3c927..9f6b4ae7 100644
--- a/src/MoonBase/Modules/ModuleIO.h
+++ b/src/MoonBase/Modules/ModuleIO.h
@@ -219,7 +219,7 @@ class ModuleIO : public Module {
       addControl(rows, "DriveCap", "text", 0, 32, true);  // ro
     }
 
-    addControl(controls, "i2cFreq", "number", 0, 65534, true);
+    addControl(controls, "i2cFreq", "number", 0, 65534, false, "kHz");
 
     control = addControl(controls, "i2cBus", "rows");
     control["crud"] = "r";
@@ -575,8 +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;
@@ -622,6 +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
@@ -817,10 +824,13 @@ class ModuleIO : public Module {
     }
 
     if (pinI2CSCL != UINT8_MAX && pinI2CSDA != UINT8_MAX) {
-      if (Wire.begin(pinI2CSDA, pinI2CSCL)) {
-        EXT_LOGI(ML_TAG, "initI2C Wire sda:%d scl:%d", pinI2CSDA, pinI2CSCL);
+      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");
     }
@@ -902,9 +912,6 @@ class ModuleIO : public Module {
       }
     }
   #endif
-    if (pinI2CSCL != UINT8_MAX && pinI2CSDA != UINT8_MAX) {
-      updateDevices();
-    }
   }
 
   void updateDevices() {
@@ -928,7 +935,7 @@ class ModuleIO : public Module {
     JsonObject i2cDevice = newState["i2cBus"].as<JsonArray>().add<JsonObject>();
     i2cDevice["address"] = 255;
 
-    doc["i2cFreq"] = Wire.getClock();
+    doc["i2cFreq"] = Wire.getClock() / 1000;
 
     update(newState, ModuleState::update, _moduleName);
   }
diff --git a/src/MoonBase/NodeManager.h b/src/MoonBase/NodeManager.h
index 9208e00b..6a6098b7 100644
--- a/src/MoonBase/NodeManager.h
+++ b/src/MoonBase/NodeManager.h
@@ -264,7 +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*>());
diff --git a/src/MoonLight/Nodes/Drivers/D_IMU.h b/src/MoonLight/Nodes/Drivers/D_IMU.h
index 699927f4..df398253 100644
--- a/src/MoonLight/Nodes/Drivers/D_IMU.h
+++ b/src/MoonLight/Nodes/Drivers/D_IMU.h
@@ -23,7 +23,6 @@ class IMUDriver : public Node {
 
   Coord3D gyro;  // in degrees (not radians)
   Coord3D accell;
-  VectorFloat gravityVector;
   uint8_t board = 0;
 
   void setup() override {
@@ -47,7 +46,7 @@ class IMUDriver : public Node {
           if (board == 0) {  // MPU6050
             mpu.initialize();
 
-            delay(100);
+            // delay(100);
 
             // verify connection
             if (mpu.testConnection()) {
@@ -70,20 +69,16 @@ class IMUDriver : public Node {
                 // 1 = initial memory load failed
                 // 2 = DMP configuration updates failed
                 // (if it's going to break, usually the code will be 1)
-                EXT_LOGI(ML_TAG, "DMP Initialization failed (code %d)", devStatus);
+                EXT_LOGW(ML_TAG, "DMP Initialization failed (code %d)", devStatus);
               }
             } else
-              EXT_LOGI(ML_TAG, "Testing device connections MPU6050 connection failed");
+              EXT_LOGW(ML_TAG, "Testing device connections MPU6050 connection failed");
           }
         }
       }
     }
   }
 
-  bool hasOnLayout() const override { return true; }  // so the mapping system knows this node has onLayout, eg each time a modifier changes
-  void onLayout() override {};                        // onLayout for drivers is used to init or update the driver based on the layouts, a driver will use the layout nodes which are defined before the driver node, so order matters
-
-  // use for continuous actions, e.g. reading data from sensors or sending data to lights (e.g. LED drivers or Art-Net)
   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
@@ -108,9 +103,9 @@ class IMUDriver : public Node {
         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.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
@@ -122,13 +117,12 @@ class IMUDriver : public Node {
     }
   };
 
-  ~IMUDriver() override {};  // e.g. to free allocated memory
+  ~IMUDriver() override {};
 
  private:
   MPU6050 mpu;
 
   // MPU control/status vars
-  uint8_t devStatus;       // return status after each device operation (0 = success, !0 = error)
   uint8_t fifoBuffer[64];  // FIFO storage buffer
 
   // orientation/motion vars

From c73ab8690f310cc0921bf0d60183ebd35949677a Mon Sep 17 00:00:00 2001
From: ewowi <ewowi@icloud.com>
Date: Thu, 12 Feb 2026 09:54:04 +0100
Subject: [PATCH 5/5] Module IO I2S tweaks, IMU fix accell calculation

ModuleIO: add I2C pins for default boards per MCU type, reset pins before update

IMU Driver: fix accell calculation, BMI160 code (commented ATM)
---
 platformio.ini                      |  1 +
 src/MoonBase/Modules/ModuleIO.h     | 27 ++++++++++++++++++--
 src/MoonLight/Nodes/Drivers/D_IMU.h | 38 ++++++++++++++++++++++++++---
 3 files changed, 60 insertions(+), 6 deletions(-)

diff --git a/platformio.ini b/platformio.ini
index ab943936..93a5b463 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -143,6 +143,7 @@ lib_deps =
 	ArduinoJson@>=7.0.0
   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]
diff --git a/src/MoonBase/Modules/ModuleIO.h b/src/MoonBase/Modules/ModuleIO.h
index 9f6b4ae7..5392efbf 100644
--- a/src/MoonBase/Modules/ModuleIO.h
+++ b/src/MoonBase/Modules/ModuleIO.h
@@ -14,7 +14,7 @@
 
 #if FT_MOONBASE == 1
 
-  #include <Wire.h>
+  #include <Wire.h> // for i2C
 
   #include "MoonBase/Module.h"
   #include "driver/uart.h"
@@ -582,6 +582,23 @@ class ModuleIO : public Module {
       pinAssigner.assignPin(8, pin_I2C_SDA);
       pinAssigner.assignPin(9, pin_I2C_SCL);
   #endif
+  // In setBoardPresetDefaults() for board_none (default case):
+  #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;
@@ -721,6 +738,9 @@ 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) {
@@ -811,6 +831,8 @@ 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) {
@@ -825,9 +847,10 @@ class ModuleIO : public Module {
 
     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", pinI2CSDA, pinI2CSCL, frequency);
+        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
         updateDevices();
diff --git a/src/MoonLight/Nodes/Drivers/D_IMU.h b/src/MoonLight/Nodes/Drivers/D_IMU.h
index df398253..e9d92f20 100644
--- a/src/MoonLight/Nodes/Drivers/D_IMU.h
+++ b/src/MoonLight/Nodes/Drivers/D_IMU.h
@@ -11,6 +11,7 @@
 
 #if FT_MOONLIGHT
 
+  // #include <BMI160Gen.h>
   #include <MPU6050_6Axis_MotionApps20.h>
 
 class IMUDriver : public Node {
@@ -26,9 +27,6 @@ class IMUDriver : public Node {
   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
@@ -73,6 +71,16 @@ class IMUDriver : public Node {
               }
             } else
               EXT_LOGW(ML_TAG, "Testing device connections MPU6050 connection failed");
+          } else if (board == 1) {  // BMI160 - NEW
+
+            // BMI160.begin(BMI160GenClass::I2C_MODE, 0x68);
+
+            // if (BMI160.getDeviceID() == 0xD1) {  // BMI160 device ID
+            //   EXT_LOGI(ML_TAG, "BMI160 connection successful");
+            //   motionTrackingReady = true;
+            // } else {
+            //   EXT_LOGW(ML_TAG, "BMI160 connection failed");
+            // }
           }
         }
       }
@@ -104,7 +112,7 @@ class IMUDriver : public Node {
 
         // 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.dmpGetAccel(&aa, fifoBuffer);
         // mpu.dmpGetGravity(&gravity, &q);
 
         mpu.dmpGetLinearAccel(&aaReal, &aa, &gravity);
@@ -114,6 +122,28 @@ class IMUDriver : public Node {
         accell.y = aaReal.y;
         accell.z = aaReal.z;
       }
+    } else if (board == 1) {  // BMI160 - NEW
+      // int gx, gy, gz, ax, ay, az;
+      // BMI160.readGyro(gx, gy, gz);
+      // BMI160.readAccelerometer(ax, ay, az);
+      
+      // // Convert raw values to degrees (BMI160 gyro: 16.4 LSB/°/s at ±2000°/s range)
+      // gyro.x = gx / 16.4f;
+      // gyro.y = gy / 16.4f;
+      // gyro.z = gz / 16.4f;
+      
+      // // Convert raw accel values (BMI160 accel: 16384 LSB/g at ±2g range)
+      // accell.x = ax;
+      // accell.y = ay;
+      // accell.z = az;
+      
+      // // Calculate gravity vector from accelerometer
+      // float norm = sqrt(ax*ax + ay*ay + az*az);
+      // if (norm > 0) {
+      //   sharedData.gravity.x = (ax / norm) * INT16_MAX;
+      //   sharedData.gravity.y = (ay / norm) * INT16_MAX;
+      //   sharedData.gravity.z = (az / norm) * INT16_MAX;
+      // }
     }
   };