From 397d48a43ab7044061055f19db3174c161a56d46 Mon Sep 17 00:00:00 2001
From: Jimmy <git@jimmy.nz>
Date: Wed, 1 Apr 2026 23:04:41 +1300
Subject: [PATCH] Add IMU telemetry pipeline and live sensor UI.

Wire LSM6DS3 readings into the runtime telemetry stream, expose them over web endpoints, and render live voltage/IMU data in the dashboard with websocket updates.

Made-with: Cursor
---
 Pipfile                  |   2 +-
 Pipfile.lock             | 915 ++++++++++++++++++++-------------------
 lib/lsm6ds3.py           |  64 +++
 src/main.py              | 118 ++++-
 src/static/main.css      |  39 ++
 src/static/main.js       |  73 +++-
 src/templates/index.html |  37 ++
 src/web.py               |  96 +++-
 test/leds.py             |   9 +
 test/lsm6ds3_test.py     |  74 ++++
 10 files changed, 948 insertions(+), 479 deletions(-)
 create mode 100644 lib/lsm6ds3.py
 create mode 100644 test/leds.py
 create mode 100644 test/lsm6ds3_test.py

diff --git a/Pipfile b/Pipfile
index 4d33ab7..2de0643 100644
--- a/Pipfile
+++ b/Pipfile
@@ -12,4 +12,4 @@ watchfiles = "*"
 [dev-packages]
 
 [requires]
-python_version = "3.12"
+python_version = "3"
diff --git a/Pipfile.lock b/Pipfile.lock
index e7bde2a..773f8f0 100644
--- a/Pipfile.lock
+++ b/Pipfile.lock
@@ -1,11 +1,11 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "7b8033c15743e27f2589635c75bd0bb86ffc3a725b179d7db9ef200119aa9164"
+            "sha256": "618f924fcf42626185a65c0140b8d7a48fcf3e4fa5493a6a264541df6ea8cd5a"
         },
         "pipfile-spec": 6,
         "requires": {
-            "python_version": "3.12"
+            "python_version": "3"
         },
         "sources": [
             {
@@ -18,150 +18,120 @@
     "default": {
         "anyio": {
             "hashes": [
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-                "sha256:60e474ac86736bbfd6f210f7a61218939c318f43f9972497381f1c5e930ed3d1"
+                "sha256:0287e96f4d26d4149305414d4e3bc32f0dcd0862365a4bddea19d7a1ec38c4fc",
+                "sha256:82a8d0b81e318cc5ce71a5f1f8b5c4e63619620b63141ef8c995fa0db95a57c4"
             ],
             "markers": "python_version >= '3.9'",
-            "version": "==4.10.0"
+            "version": "==4.11.0"
         },
         "bitarray": {
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-            "version": "==5.0.2"
+            "version": "==5.1.0"
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-            "markers": "python_version >= '3.6'",
-            "version": "==3.10"
+            "markers": "python_version >= '3.8'",
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@@ -320,11 +324,11 @@
         },
         "markdown-it-py": {
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-            "version": "==3.0.0"
+            "markers": "python_version >= '3.10'",
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         "mdurl": {
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@@ -336,28 +340,28 @@
         },
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@@ -377,62 +381,82 @@
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@@ -443,19 +467,19 @@
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+                "sha256:8c89f9f2f740a6b7dcc753140dd5e1ab9215966f7a3530d0c0705c83b401bd7d",
+                "sha256:8c91ed27800188c2ae96d16e3149f199d62f86c7af5f5f4d2c61a3ed8cd3666c",
+                "sha256:8ca65483439f9c791897f7db49202301deb6e15fe9f8fe2fed555bf986d10c31",
+                "sha256:8fbe85cb3201c7d380d3d0b90e63d520f15d6afe217165d7f98c9c649654db81",
+                "sha256:91d4c9a823a8c987cce8fa2690923b069966dabb196dd8d137ea2cede885fde9",
+                "sha256:9bb9f66367023ae783551042d31b1d7fd422e8289eedd91f26754a66f44d5cff",
+                "sha256:a173cb5c16c4f40ab19cecf48a534c409f7ea983ab8fed0741304a1c0a31b3f2",
+                "sha256:a36d8efe0f290835fd0f33da35042a1bb5dc0e83cbc092dcf69bce442579e88e",
+                "sha256:a55f3e9e493158d7bfdb60a1165035f1cf7d320914e7b7ea83fe22c6023b58fc",
+                "sha256:a625815d4a2bdca61953dbba5a39d60164451ef34c88d751f6c368c3ea73d404",
+                "sha256:a916a2932da8f8ab582f242c065f5c81bed3462849ca79ee357dd9551b0e9b01",
+                "sha256:ac3cc5759570cd02662b15fbcd9d917f7ecd47efe0d6b40474eafd246f91ea18",
+                "sha256:acb08650863767cbc58bca4813b92df4d6c648459dcaa3d4155681962b2aa2d3",
+                "sha256:aebfd0861a83e6c3d1110b78ad54704486555246e542be3e2bb94195eabb2606",
+                "sha256:afaeff7696e0ad9f02cbb8f56365ff4686ab205fcf9c4c5b6fdfaaa16549dd04",
+                "sha256:b27cf2eb1dda37b2089e3907d8ea92922b673c0c427886d4edc6b94d8dfe5db3",
+                "sha256:b2cd9e04277e756a2e2d2543d65d1e2166d6fd4c9b183f8808634fda23f17b14",
+                "sha256:b9c4702f29ca48e023ffd9b7ff6b822acdf47cb1ff44cb490a3f1d5ec8987e9c",
+                "sha256:bbe1ef33d45bc71cf21364df962af171f96ecaeca06bd9e3d0b583efb12aec82",
+                "sha256:bd404be08018c37350f0d6e34676bd1e2889990117a2b90070b3007f172d0610",
+                "sha256:bf0a91bfb5574a2f7fc223cf95eeea79abfefa404bf1ea5e339c0c1560ae99a0",
+                "sha256:bfb5862016acc9b869bb57284e6cb35fdf8e22fe59f7548858e2f971d045f150",
+                "sha256:bfff9740c69c0e4ed32416f013f3c45e2ae42ccedd1167ef2d805c000b6c71a5",
+                "sha256:c1f5210f1b8fc91ead1283c6fd89f70e76fb07283ec738056cf34d51e9c1d62c",
+                "sha256:c2047d0b6cea13b3316bdbafbfa0c4228ae593d995030fda39089d36e64fc03a",
+                "sha256:c22c776292a23bfc7237a98f791b9ad3144b02116ff10d820829ce62dff46d0b",
+                "sha256:c755367e51db90e75b19454b680903631d41f9e3607fbd941d296a020c2d752d",
+                "sha256:c882d69f6903ef6092bedfb7be973d9319940d56b8427ab9187d1ecd73438a70",
+                "sha256:cb467c999c2eff23a6417e58d75e5828716f42ed8289fe6b77a7e5a91036ca70",
+                "sha256:cdab464fee731e0884c35ae3588514a9bcf718d0e2c82169c1c4a85cc19c3c7f",
+                "sha256:ce19e06cbda693e9e7686358af9cd6f5d61312ab8b00488bc36f5aabbaf77e24",
+                "sha256:ce70f96a46b894b36eba678f153f052967a0d06d5b5a19b336ab0dbbd029f73e",
+                "sha256:cf57a27fb986c6243d2ee78392c503826056ffe0287e8794503b10fb51b881be",
+                "sha256:d1715143123baeeaeadec0528bb7441103979a1d5f6fd0e1f915383fea7ea6d5",
+                "sha256:d6ff426a7cb54f310d51bfe83fe9f2bbe40d540c741dc974ebc30e6aa238f52e",
+                "sha256:d7e7067c98040d646982daa1f37a33d3544138ea155536c2e0e63e07ff8a7e0f",
+                "sha256:db476ab59b6765134de1d4fe96a1a9c96ddf091683599be0f26147ea1b2e4b88",
+                "sha256:dcc5c24523771db3a294c77d94771abcfcb82a0e0ee8efd910c37c59ec1b31bb",
+                "sha256:de6da501c883f58ad50db3a32ad397b09ad29865b5f26f64c24d3e3281685849",
+                "sha256:e84087b432b6ac94778de547e08611266f1f8ffad28c0ee4c82e028b0fc5966d",
+                "sha256:eef58232d32daf2ac67f42dea51a2c80f0d03379075d44a587051e63cc2e368c",
+                "sha256:f096076119da54a6080e8920cbdaac3dbee667eb91dcc5e5b78840b87415bd44",
+                "sha256:f0ab1c1af0cb38e3f598244c17919fb1a84d1629cc08355b0074b6d7f53138ac",
+                "sha256:f27db948078f3823a6bb3b465180db8ebecf26dd5dae6f6180bd87383b6b4428",
+                "sha256:f537afb3276d12814082a2e9b242bdcf416c2e8fd9f799a737990a1dbe906e5b",
+                "sha256:f57b396167a2565a4e8b5e56a5a1c537571733992b226f4f1197d79e94cf0ae5",
+                "sha256:f8979280bdafff686ba5e4d8f97840f929a87ed9cdf133cbbd42f7766774d2aa",
+                "sha256:f9a2ae5c91cecc9edd47e041a930490c31c3afb1f5e6d71de3dc671bfaca02bf"
             ],
             "index": "pypi",
             "markers": "python_version >= '3.9'",
-            "version": "==1.1.0"
+            "version": "==1.1.1"
         }
     },
     "develop": {}
diff --git a/lib/lsm6ds3.py b/lib/lsm6ds3.py
new file mode 100644
index 0000000..77034ae
--- /dev/null
+++ b/lib/lsm6ds3.py
@@ -0,0 +1,64 @@
+"""LSM6DS3 accelerometer / gyroscope over I2C (MicroPython)."""
+
+import struct
+
+WHO_AM_I_REG = 0x0F
+WHO_AM_I_LSM6DS3 = 0x69
+
+CTRL1_XL = 0x10
+CTRL2_G = 0x11
+OUT_TEMP_L = 0x20
+
+# Default CTRL1_XL = 0x60: 104 Hz ODR, ±2 g, anti-aliasing filter BW ~100 Hz
+# Default CTRL2_G = 0x40: 104 Hz ODR, 245 dps full scale
+_DEFAULT_XL = b"\x60"
+_DEFAULT_G = b"\x40"
+
+# LSB scaling for default full-scale settings above
+_G_PER_LSB = 0.000061
+_DPS_PER_LSB = 0.00875
+
+
+def is_lsm6ds3(who_am_i: int) -> bool:
+    return who_am_i == WHO_AM_I_LSM6DS3
+
+
+class LSM6DS3:
+    def __init__(self, i2c, addr=0x6A):
+        self.i2c = i2c
+        self.addr = addr
+
+    def who_am_i(self) -> int:
+        return self.i2c.readfrom_mem(self.addr, WHO_AM_I_REG, 1)[0]
+
+    def configure(self, ctrl1_xl=_DEFAULT_XL, ctrl2_g=_DEFAULT_G) -> None:
+        self.i2c.writeto_mem(self.addr, CTRL1_XL, ctrl1_xl)
+        self.i2c.writeto_mem(self.addr, CTRL2_G, ctrl2_g)
+
+    def read_raw(self):
+        """Returns (temp_raw, gx, gy, gz, ax, ay, az) as signed 16-bit values."""
+        data = self.i2c.readfrom_mem(self.addr, OUT_TEMP_L, 14)
+        return struct.unpack("<hhhhhhh", data)
+
+    def read(self):
+        """
+        Scaled readings for default ±2 g / 245 dps configuration.
+
+        Returns:
+            temp_c: float, degrees C
+            accel_g: (ax, ay, az) in g
+            gyro_dps: (gx, gy, gz) in degrees per second
+        """
+        temp, gx, gy, gz, ax, ay, az = self.read_raw()
+        temp_c = 25.0 + temp / 16.0
+        accel_g = (
+            ax * _G_PER_LSB,
+            ay * _G_PER_LSB,
+            az * _G_PER_LSB,
+        )
+        gyro_dps = (
+            gx * _DPS_PER_LSB,
+            gy * _DPS_PER_LSB,
+            gz * _DPS_PER_LSB,
+        )
+        return temp_c, accel_g, gyro_dps
diff --git a/src/main.py b/src/main.py
index 25d6c61..4b628c3 100644
--- a/src/main.py
+++ b/src/main.py
@@ -1,5 +1,7 @@
 import asyncio
 import aioespnow
+import math
+import random
 from settings import Settings
 from web import web
 from patterns import Patterns
@@ -10,7 +12,8 @@ import time
 import wifi
 import json
 from p2p import p2p
-from machine import ADC, Pin
+from machine import ADC, Pin, I2C
+from lsm6ds3 import LSM6DS3, is_lsm6ds3
 
 async def main():
     settings = Settings()
@@ -31,12 +34,15 @@ async def main():
             await asyncio.sleep_ms(0)
 
     async def system():
-        adc = ADC(Pin(2), atten=ADC.ATTN_11DB)
+        adc = ADC(Pin(0), atten=ADC.ATTN_11DB)
         while True:
             gc.collect()
             for i in range(60):
                 wdt.feed()
-                
+                pin_uv = adc.read_uv()
+                voltage = pin_uv * 2 / 1_000_000  # 1:2 divider: V_source = 2 × V_pin
+                telemetry["voltage"] = voltage
+                print("%.3f V" % voltage)
                 await asyncio.sleep(1)
 
     async def sw():
@@ -63,9 +69,109 @@ async def main():
             if sw2.value() == 0:
                 patterns.select("off")
             await asyncio.sleep_ms(200)
-        
 
-    w = web(settings, patterns)
+    telemetry = {
+        "voltage": 0.0,
+        "imu": {
+            "ok": False,
+            "temp": 0.0,
+            "ax": 0.0,
+            "ay": 0.0,
+            "az": 0.0,
+            "gx": 0.0,
+            "gy": 0.0,
+            "gz": 0.0,
+            "roll_deg": 0.0,
+            "pitch_deg": 0.0,
+            "yaw_deg": 0.0,
+        },
+    }
+
+    imu_sensor = None
+    try:
+        i2c_imu = I2C(0, scl=Pin(23), sda=Pin(22), freq=400000)
+        for addr in (0x6A, 0x6B):
+            try:
+                cand = LSM6DS3(i2c_imu, addr)
+                if is_lsm6ds3(cand.who_am_i()):
+                    cand.configure()
+                    utime.sleep_ms(50)
+                    imu_sensor = cand
+                    print("LSM6DS3 at", hex(addr))
+                    break
+            except OSError:
+                pass
+    except Exception as e:
+        print("IMU init failed:", e)
+
+    async def imu_loop():
+        im = telemetry["imu"]
+        prev_ms = utime.ticks_ms()
+        last_gyro_jolt_ms = 0
+        # Integrated rotation this sample: max(|ω|) * dt ≥ threshold (deg)
+        gyro_jolt_deg_per_interval = 22.0
+        gyro_jolt_cooldown_ms = 700
+
+        def wrap_angle_deg(y):
+            while y > 180.0:
+                y -= 360.0
+            while y <= -180.0:
+                y += 360.0
+            return y
+
+        def random_bright_rgb():
+            return (
+                random.randint(48, 255),
+                random.randint(48, 255),
+                random.randint(48, 255),
+            )
+
+        while True:
+            wdt.feed()
+            now = utime.ticks_ms()
+            dt_ms = utime.ticks_diff(now, prev_ms)
+            prev_ms = now
+            if dt_ms < 0:
+                dt_ms = 200
+            dt_s = max(dt_ms / 1000.0, 0.001)
+            try:
+                t, ag, gd = imu_sensor.read()
+                im["ok"] = True
+                im["temp"] = t
+                im["ax"], im["ay"], im["az"] = ag
+                im["gx"], im["gy"], im["gz"] = gd
+                ax, ay, az = ag
+                im["roll_deg"] = math.degrees(math.atan2(ay, az))
+                pitch = math.degrees(
+                    math.atan2(-ax, math.sqrt(ay * ay + az * az))
+                )
+                im["pitch_deg"] = pitch
+                gx, gy, gz = gd
+                im["yaw_deg"] = wrap_angle_deg(im["yaw_deg"] + gz * dt_s)
+
+                omega_max = max(abs(gx), abs(gy), abs(gz))
+                spin_deg = omega_max * dt_s
+                if (
+                    spin_deg >= gyro_jolt_deg_per_interval
+                    and utime.ticks_diff(now, last_gyro_jolt_ms)
+                    >= gyro_jolt_cooldown_ms
+                ):
+                    last_gyro_jolt_ms = now
+                    patterns.set_color1(random_bright_rgb())
+                    patterns.set_color2(random_bright_rgb())
+                    patterns.sync()
+                    print(
+                        "gyro jolt %.1f deg (|ω|max=%.0f dps) -> new colors"
+                        % (spin_deg, omega_max)
+                    )
+            except OSError:
+                im["ok"] = False
+            except Exception as e:
+                im["ok"] = False
+                print("IMU read error:", e)
+            await asyncio.sleep_ms(200)
+
+    w = web(settings, patterns, telemetry)
     print(settings)
     # start the server in a bacakground task
     print("Starting")
@@ -77,6 +183,8 @@ async def main():
     asyncio.create_task(p2p(settings, patterns))
     asyncio.create_task(system())
     asyncio.create_task(sw())
+    if imu_sensor is not None:
+        asyncio.create_task(imu_loop())
         
     # cleanup before ending the application
     await server
diff --git a/src/static/main.css b/src/static/main.css
index 15226a5..f44d7b2 100644
--- a/src/static/main.css
+++ b/src/static/main.css
@@ -9,6 +9,45 @@ h1 {
     text-align: center;
 }
 
+.sensor-section {
+    margin: 1.25rem 0;
+    padding: 1rem 1.25rem;
+    border: 1px solid #c5c5c5;
+    border-radius: 10px;
+    background: #f4f4f4;
+    box-sizing: border-box;
+}
+
+.sensor-section h2 {
+    margin: 0 0 0.35rem 0;
+    font-size: 1.15rem;
+    text-align: left;
+}
+
+.sensor-hint {
+    margin: 0 0 0.75rem 0;
+    font-size: 0.85rem;
+    color: #555;
+}
+
+.sensor-section .telemetry p {
+    margin: 0.4rem 0;
+}
+
+.sensor-section .imu-block {
+    margin-top: 0.5rem;
+    padding-top: 0.5rem;
+    border-top: 1px solid #ddd;
+}
+
+.sensor-section .yaw-note {
+    display: block;
+    font-size: 0.8rem;
+    font-weight: normal;
+    color: #666;
+    margin-top: 0.2rem;
+}
+
 form {
     margin-bottom: 20px;
 }
diff --git a/src/static/main.js b/src/static/main.js
index 9e00994..3f53952 100644
--- a/src/static/main.js
+++ b/src/static/main.js
@@ -5,6 +5,52 @@ let color2Timeout;
 let ws; // Variable to hold the WebSocket connection
 let connectionStatusElement; // Variable to hold the connection status element
 
+function setTelemetryText(id, text) {
+  const el = document.getElementById(id);
+  if (el) el.textContent = text;
+}
+
+function applyTelemetryDisplay(data) {
+  if (typeof data.voltage === "number") {
+    setTelemetryText("voltage", data.voltage.toFixed(3));
+  }
+  const imu = data.imu;
+  const dash = "—";
+  const imuLive =
+    imu &&
+    (imu.ok === true ||
+      imu.ok === 1 ||
+      imu.ok === "1" ||
+      imu.ok === "true");
+  if (imuLive) {
+    const fmt = (v, d) =>
+      typeof v === "number" && !Number.isNaN(v) ? v.toFixed(d) : dash;
+    setTelemetryText("imu-temp", fmt(imu.temp, 2));
+    setTelemetryText("imu-ax", fmt(imu.ax, 3));
+    setTelemetryText("imu-ay", fmt(imu.ay, 3));
+    setTelemetryText("imu-az", fmt(imu.az, 3));
+    setTelemetryText("imu-gx", fmt(Math.abs(imu.gx), 2));
+    setTelemetryText("imu-gy", fmt(Math.abs(imu.gy), 2));
+    setTelemetryText("imu-gz", fmt(Math.abs(imu.gz), 2));
+    setTelemetryText("imu-roll", fmt(imu.roll_deg, 1));
+    setTelemetryText("imu-pitch", fmt(imu.pitch_deg, 1));
+    setTelemetryText("imu-yaw", fmt(imu.yaw_deg, 1));
+  } else {
+    setTelemetryText("imu-temp", dash);
+    [
+      "imu-ax",
+      "imu-ay",
+      "imu-az",
+      "imu-gx",
+      "imu-gy",
+      "imu-gz",
+      "imu-roll",
+      "imu-pitch",
+      "imu-yaw",
+    ].forEach((id) => setTelemetryText(id, dash));
+  }
+}
+
 // Function to update the connection status indicator
 function updateConnectionStatus(status) {
   if (!connectionStatusElement) {
@@ -20,8 +66,8 @@ function updateConnectionStatus(status) {
 
 // Function to establish WebSocket connection
 function connectWebSocket() {
-  // Determine the WebSocket URL based on the current location
-  const wsUrl = `ws://${window.location.host}/ws`;
+  const proto = window.location.protocol === "https:" ? "wss:" : "ws:";
+  const wsUrl = `${proto}//${window.location.host}/ws`;
   ws = new WebSocket(wsUrl);
 
   updateConnectionStatus("connecting"); // Indicate connecting state
@@ -33,7 +79,15 @@ function connectWebSocket() {
   };
 
   ws.onmessage = function (event) {
-    console.log("WebSocket message received:", event.data);
+    let msg;
+    try {
+      msg = JSON.parse(event.data);
+    } catch {
+      return;
+    }
+    if (msg && msg._t === "telemetry") {
+      applyTelemetryDisplay(msg);
+    }
   };
 
   ws.onerror = function (event) {
@@ -86,18 +140,6 @@ async function post(path, data) {
   }
 }
 
-async function get(path) {
-  try {
-    const response = await fetch(path);
-    if (!response.ok) {
-      throw new Error(`HTTP error! Status: ${response.status}`);
-    }
-    return await response.json();
-  } catch (error) {
-    console.error("Error during GET request:", error);
-  }
-}
-
 async function updateColor(event) {
   event.preventDefault();
   clearTimeout(colorTimeout);
@@ -220,7 +262,6 @@ document.addEventListener("DOMContentLoaded", async function () {
   document.getElementById("rgb").addEventListener("change", handleRadioChange);
   document.getElementById("rbg").addEventListener("change", handleRadioChange);
   document.querySelectorAll(".pattern_button").forEach((button) => {
-    console.log(button.value);
     button.addEventListener("click", async (event) => {
       event.preventDefault();
       await updatePattern(button.value);
diff --git a/src/templates/index.html b/src/templates/index.html
index 4e1a112..d675e9d 100644
--- a/src/templates/index.html
+++ b/src/templates/index.html
@@ -10,6 +10,43 @@
     </head>
     <body>
         <h1>{{settings['name']}}</h1>
+
+        <section class="sensor-section" id="sensor-section" aria-labelledby="sensor-heading">
+            <h2 id="sensor-heading">Sensors</h2>
+            <p class="sensor-hint">
+                Live readings (WebSocket). Roll/pitch use gravity (accel). Yaw is integrated from the
+                gyro (relative, drifts; not compass heading unless you add a magnetometer).
+            </p>
+            <div class="telemetry">
+                <p class="voltage"><strong>Voltage:</strong> <span id="voltage">—</span> V</p>
+                <div id="imu-block" class="imu-block">
+                    <p><strong>IMU temp:</strong> <span id="imu-temp">—</span> °C</p>
+                    <p>
+                        <strong>Accel (g):</strong>
+                        x <span id="imu-ax">—</span>,
+                        y <span id="imu-ay">—</span>,
+                        z <span id="imu-az">—</span>
+                    </p>
+                    <p>
+                        <strong>Gyro (abs °/s):</strong>
+                        <span id="imu-gx">—</span>,
+                        <span id="imu-gy">—</span>,
+                        <span id="imu-gz">—</span>
+                    </p>
+                    <p class="tilt-line">
+                        <strong>Roll (°):</strong> <span id="imu-roll">—</span>
+                    </p>
+                    <p class="tilt-line">
+                        <strong>Pitch (°):</strong> <span id="imu-pitch">—</span>
+                    </p>
+                    <p class="tilt-line">
+                        <strong>Yaw (°):</strong> <span id="imu-yaw">—</span>
+                        <span class="yaw-note">gyro ∫z, −180…180</span>
+                    </p>
+                </div>
+            </div>
+        </section>
+
         <button onclick="selectControls()">Controls</button>
         <button onclick="selectSettings()">Settings</button>
 
diff --git a/src/web.py b/src/web.py
index a66c4f0..b4ebf0c 100644
--- a/src/web.py
+++ b/src/web.py
@@ -1,14 +1,43 @@
+import asyncio
+import utime
+
 from microdot import Microdot, send_file, Response
 from microdot.utemplate import Template
-from microdot.websocket import with_websocket
+from microdot.websocket import WebSocketError, with_websocket
 import machine
 import wifi
 import json
 
-def web(settings, patterns):
+
+def _telemetry_snapshot(telemetry):
+    """Flat scalars for JSON (MicroPython-safe); imu.ok as 0/1 for clients."""
+    im = telemetry["imu"]
+    return {
+        "voltage": float(telemetry["voltage"]),
+        "imu": {
+            "ok": 1 if im.get("ok") else 0,
+            "temp": float(im["temp"]),
+            "ax": float(im["ax"]),
+            "ay": float(im["ay"]),
+            "az": float(im["az"]),
+            "gx": float(im["gx"]),
+            "gy": float(im["gy"]),
+            "gz": float(im["gz"]),
+            "roll_deg": float(im.get("roll_deg", 0.0)),
+            "pitch_deg": float(im.get("pitch_deg", 0.0)),
+            "yaw_deg": float(im.get("yaw_deg", 0.0)),
+        },
+    }
+
+
+def web(settings, patterns, telemetry):
     app = Microdot()
     Response.default_content_type = 'text/html'
 
+    @app.route("/api/telemetry")
+    def telemetry_handler(request):
+        return Response(_telemetry_snapshot(telemetry))
+
     @app.route('/')
     async def index_hnadler(request):
         mac = wifi.get_mac().hex()
@@ -30,14 +59,63 @@ def web(settings, patterns):
     @app.route("/ws")
     @with_websocket
     async def ws(request, ws):
-        while True:
-            data = await ws.receive()
-            if data:
+        # One coroutine only: a background send task interleaves badly with
+        # receive() on ESP32. Use short wait_for slices so we keep receiving
+        # client commands and still push telemetry on an interval.
+        push_every_ms = 1000
+        recv_slice_s = 0.2
+        last_push = utime.ticks_add(utime.ticks_ms(), -push_every_ms)
 
-                # Process the received data
-                _, status_code = settings.set_settings(json.loads(data), patterns, True)
-                #await ws.send(status_code)
-            else:
+        def telemetry_payload():
+            try:
+                snap = _telemetry_snapshot(telemetry)
+                snap["_t"] = "telemetry"
+                return json.dumps(snap)
+            except Exception:
+                return json.dumps(
+                    {
+                        "_t": "telemetry",
+                        "voltage": 0.0,
+                        "imu": {
+                            "ok": 0,
+                            "temp": 0.0,
+                            "ax": 0.0,
+                            "ay": 0.0,
+                            "az": 0.0,
+                            "gx": 0.0,
+                            "gy": 0.0,
+                            "gz": 0.0,
+                            "roll_deg": 0.0,
+                            "pitch_deg": 0.0,
+                            "yaw_deg": 0.0,
+                        },
+                    }
+                )
+
+        while True:
+            try:
+                data = await asyncio.wait_for(ws.receive(), recv_slice_s)
+            except asyncio.TimeoutError:
+                data = None
+            except WebSocketError:
                 break
 
+            if data:
+                try:
+                    msg = json.loads(data)
+                except (ValueError, TypeError):
+                    msg = None
+                if isinstance(msg, dict) and msg.get("_t") != "telemetry":
+                    settings.set_settings(msg, patterns, True)
+
+            now = utime.ticks_ms()
+            if utime.ticks_diff(now, last_push) >= push_every_ms:
+                if ws.closed:
+                    break
+                try:
+                    await ws.send(telemetry_payload())
+                except (OSError, WebSocketError):
+                    break
+                last_push = now
+
     return app
diff --git a/test/leds.py b/test/leds.py
new file mode 100644
index 0000000..d72ba56
--- /dev/null
+++ b/test/leds.py
@@ -0,0 +1,9 @@
+from machine import Pin
+from neopixel import NeoPixel
+
+led = NeoPixel(Pin(18, Pin.OUT), 10)
+
+led.fill((255, 0, 0))
+led.write()
+
+
diff --git a/test/lsm6ds3_test.py b/test/lsm6ds3_test.py
new file mode 100644
index 0000000..6cf60e0
--- /dev/null
+++ b/test/lsm6ds3_test.py
@@ -0,0 +1,74 @@
+from machine import Pin, I2C
+import time
+
+from lsm6ds3 import LSM6DS3, is_lsm6ds3
+
+
+# XIAO ESP32C3 default I2C pins: SDA=GPIO6 (D4), SCL=GPIO7 (D5)
+i2c = I2C(0, scl=Pin(23), sda=Pin(22), freq=400000)
+
+
+def scan_i2c():
+    devices = i2c.scan()
+    if not devices:
+        print("No I2C devices found")
+    else:
+        print("I2C devices found:", [hex(d) for d in devices])
+
+
+def read_who_am_i(addr):
+    try:
+        sensor = LSM6DS3(i2c, addr)
+        who = sensor.who_am_i()
+        print("WHO_AM_I at", hex(addr), "=", hex(who))
+        if is_lsm6ds3(who):
+            print("Looks like an LSM6DS3")
+        else:
+            print("Unexpected WHO_AM_I value")
+    except OSError as e:
+        print("Failed to read WHO_AM_I from", hex(addr), "error:", e)
+
+
+def basic_test():
+    """Run an I2C scan and WHO_AM_I check on common LSM6DS3 addresses."""
+    scan_i2c()
+    for addr in (0x6A, 0x6B):
+        read_who_am_i(addr)
+
+
+def configure_and_read(addr=0x6A):
+    """Configure accel/gyro and continuously print readings."""
+    sensor = LSM6DS3(i2c, addr)
+    sensor.configure()
+    time.sleep_ms(100)
+
+    while True:
+        try:
+            temp_c, accel_g, gyro_dps = sensor.read()
+            ax_g, ay_g, az_g = accel_g
+            gx_dps, gy_dps, gz_dps = gyro_dps
+
+            print("Temp: {:.2f} C".format(temp_c))
+            print(
+                "Accel g:  ax={:.3f}, ay={:.3f}, az={:.3f}".format(
+                    ax_g, ay_g, az_g
+                )
+            )
+            print(
+                "Gyro dps: gx={:.2f}, gy={:.2f}, gz={:.2f}".format(
+                    gx_dps, gy_dps, gz_dps
+                )
+            )
+            print("----")
+        except OSError as e:
+            print("I2C read error:", e)
+        time.sleep(0.1)
+
+
+if __name__ == "__main__":
+    # First run a basic scan + WHO_AM_I test.
+    basic_test()
+
+    # Uncomment this to go straight into continuous sensor reading once
+    # you know the correct I2C address for your board (0x6A or 0x6B).
+    configure_and_read(addr=0x6B)