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

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