ism330dl: Add ism330dl driver.

lib/ism330dl/README.md

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+# ISM330DL MicroPython Driver
+
+MicroPython driver for the **STMicroelectronics ISM330DL** 6-axis IMU.
+
+The ISM330DL integrates:
+
+* a **3-axis accelerometer**
+* a **3-axis gyroscope**
+
+This driver provides a simple API to configure the sensor and read motion data using **I²C**.
+
+---
+
+# Features
+
+* I²C communication
+* device identification (`WHO_AM_I`)
+* accelerometer configuration
+* gyroscope configuration
+* raw sensor readings
+* converted physical units
+* board orientation reading
+* board rotation reading
+* temperature reading
+* data-ready status helpers
+* power-down mode
+
+---
+
+# Sensor overview
+
+| Sensor        | Range                              | Unit      |
+| ------------- | ---------------------------------- | --------- |
+| Accelerometer | ±2g / ±4g / ±8g / ±16g             | g         |
+| Gyroscope     | ±125 / ±250 / ±500 / ±1000 / ±2000 | degrees/s |
+| Temperature   | internal sensor                    | °C        |
+
+---
+
+# I²C Address
+
+The sensor can use two I²C addresses depending on the **SA0 pin**:
+
+| SA0 | Address |
+| --- | ------- |
+| 0   | `0x6A`  |
+| 1   | `0x6B`  |
+
+The STeaMi board uses **0x6B** (default).
+
+---
+
+# Basic Usage
+
+```python
+from machine import I2C
+from ism330dl import ISM330DL
+
+i2c = I2C(1)
+
+imu = ISM330DL(i2c)
+
+ax, ay, az = imu.acceleration_g()
+gx, gy, gz = imu.gyroscope_dps()
+temp = imu.temperature_c()
+
+print("Accel:", ax, ay, az)
+print("Gyro :", gx, gy, gz)
+print("Temp :", temp)
+```
+
+---
+
+# API
+
+## Initialization
+
+```python
+imu = ISM330DL(i2c)
+```
+
+---
+
+## Accelerometer
+
+### Raw data
+
+```python
+imu.acceleration_raw()
+```
+
+Returns:
+
+```
+(x, y, z)
+```
+
+16-bit raw values.
+
+---
+
+### Acceleration in g
+
+```python
+imu.acceleration_g()
+```
+
+Example:
+
+```
+(0.01, -0.02, 0.99)
+```
+
+---
+
+### Acceleration in m/s²
+
+```python
+imu.acceleration_ms2()
+```
+
+### Board orientation
+
+```python
+imu.orientation()
+```
+
+---
+
+## Gyroscope
+
+### Raw data
+
+```python
+imu.gyroscope_raw()
+```
+
+---
+
+### Angular velocity in degrees per second
+
+```python
+imu.gyroscope_dps()
+```
+
+Example:
+
+```
+(0.5, -0.3, 1.2)
+```
+
+---
+
+### Angular velocity in radians per second
+
+```python
+imu.gyroscope_rads()
+```
+
+### Motion detection
+
+```python
+imu.motion()
+```
+
+---
+
+## Temperature
+
+```python
+imu.temperature_c()
+```
+
+Example:
+
+```
+26.3
+```
+
+---
+
+## Configuration
+
+### Accelerometer
+
+```python
+imu.configure_accel(odr, scale)
+```
+
+Example:
+
+```python
+from ism330dl.const import ACCEL_ODR_104HZ, ACCEL_FS_4G
+
+imu.configure_accel(ACCEL_ODR_104HZ, ACCEL_FS_4G)
+```
+
+---
+
+### Gyroscope
+
+```python
+imu.configure_gyro(odr, scale)
+```
+
+Example:
+
+```python
+from ism330dl.const import GYRO_ODR_104HZ, GYRO_FS_500DPS
+
+imu.configure_gyro(GYRO_ODR_104HZ, GYRO_FS_500DPS)
+```
+
+---
+
+## Status
+
+```python
+imu.status()
+```
+
+Returns:
+
+```
+{
+    "temp_ready": True,
+    "gyro_ready": True,
+    "accel_ready": True
+}
+```
+
+---
+
+## Power Down
+
+```python
+imu.power_down()
+```
+
+Stops accelerometer and gyroscope.
+
+---
+
+# Examples
+
+The repository provides several example scripts:
+
+| Example                 | Description                                       |
+| ----------------------- | ------------------------------------------------- |
+| `basic_read.py`         | Simple sensor readout                             |
+| `static_orientation.py` | Detect device orientation using the accelerometer |
+| `motion_orientation.py` | Detect rotation using the gyroscope               |
+
+---

lib/ism330dl/examples/basic_read.py

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+from machine import I2C
+from time import sleep_ms
+from ism330dl import ISM330DL
+
+i2c = I2C(1)
+
+imu = ISM330DL(i2c)
+
+print("ISM330DL example: basic read")
+print()
+
+while True:
+
+    ax, ay, az = imu.acceleration_g()
+    gx, gy, gz = imu.gyroscope_dps()
+    temp = imu.temperature_c()
+
+    print(
+        "A[g]=({:+.2f},{:+.2f},{:+.2f})  "
+        "G[dps]=({:+.1f},{:+.1f},{:+.1f})  "
+        "T={:.1f}°C".format(
+            ax, ay, az,
+            gx, gy, gz,
+            temp
+        )
+    )
+
+    sleep_ms(500)

lib/ism330dl/examples/motion_orientation.py

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+from machine import I2C
+from time import sleep_ms
+from ism330dl import ISM330DL
+
+i2c = I2C(1)
+
+imu = ISM330DL(i2c)
+
+print("ISM330DL gyroscope direction demo")
+print()
+
+while True:
+    motion, speed = imu.motion()
+
+    print("Motion: {}  Speed: {:.1f} dps".format(motion, speed))
+
+    sleep_ms(200)

lib/ism330dl/examples/static_orientation.py

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+from machine import I2C
+from time import sleep_ms
+from ism330dl import ISM330DL
+
+i2c = I2C(1)
+
+imu = ISM330DL(i2c)
+
+print("ISM330DL orientation demo")
+print()
+
+
+# -------------------------------------------------
+# Main loop
+# -------------------------------------------------
+
+while True:
+    dir = imu.orientation()
+
+    print("Orientation: {}".format(dir))
+
+    sleep_ms(500)

lib/ism330dl/ism330dl/__init__.py

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+from ism330dl.device import ISM330DL
+from ism330dl.exceptions import (
+    ISM330DLError,
+    ISM330DLNotFound,
+    ISM330DLConfigError,
+    ISM330DLIOError,
+)
+
+__all__ = [
+    "ISM330DL",
+    "ISM330DLConfigError",
+    "ISM330DLError",
+    "ISM330DLIOError",
+    "ISM330DLNotFound",
+]