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

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)