MPU-6050 Six-Axis (Gyro + Accelerometer) Driver

This usermod-v2 modification allows the connection of a MPU-6050 IMU sensor to allow for effects that are controlled by the orientation or motion of the WLED Device.

The MPU6050 has a built in "Digital Motion Processor" which does a lot of the heavy lifting in integrating the gyro and accel measurements to get potentially more useful gravity vector and orientation output.

It is pretty straightforward to comment out some of the variables being read off the device if they're not needed to save CPU/Mem/Bandwidth.

Story:

As a memento to a long trip I was on, I built an icosahedron globe. I put lights inside to indicate cities I travelled to.

I wanted to integrate an IMU to allow either on-board, or off-board effects that would react to the globes orientation. See the blog post on building it https://www.robopenguins.com/icosahedron-travel-globe/ or a video demo https://youtu.be/zYjybxHBsHM .

Adding Dependencies

I2Cdev and MPU6050 must be installed.

To install them, add I2Cdevlib-MPU6050@fbde122cc5 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)

For example:

lib_compat_mode = soft
lib_deps =
    [email protected]
    [email protected]
    [email protected]
    ESPAsyncUDP@697c75a025
    [email protected]
    Esp Async [email protected]
    [email protected]
    I2Cdevlib-MPU6050@fbde122cc5

Wiring

The connections needed to the MPU6050 are as follows:

  VCC     VU (5V USB)   Not available on all boards so use 3.3V if needed.
  GND     G             Ground
  SCL     D1 (GPIO05)   I2C clock
  SDA     D2 (GPIO04)   I2C data
  XDA     not connected
  XCL     not connected
  AD0     not connected
  INT     D8 (GPIO15)   Interrupt pin

You could probably modify the code not to need an interrupt, but I used the setup directly from the example.

JSON API

This code adds:

"u":{
  "IMU":{
    "Quat":        [w, x, y, z],
    "Euler":       [psi, theta, phi],
    "Gyro":        [x, y, z],
    "Accel":       [x, y, z],
    "RealAccel":   [x, y, z],
    "WorldAccel":  [x, y, z],
    "Gravity":     [x, y, z],
    "Orientation": [yaw, pitch, roll]
  }
}

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.

Example usermods_list.cpp:

#include "wled.h"

#include "usermod_mpu6050_imu.h"

void registerUsermods()
{
  usermods.add(new MPU6050Driver());
}