From 47c91c7f94e728df10f9632b84a3a71fdff58a8e Mon Sep 17 00:00:00 2001
From: Charly-sketch <glic.per@gmail.com>
Date: Mon, 30 Mar 2026 11:40:07 +0200
Subject: [PATCH 01/15] feat(ism330dl): add permanent config for calibration

---
 lib/steami_config/steami_config/device.py | 56 +++++++++++++++++++++++
 1 file changed, 56 insertions(+)

diff --git a/lib/steami_config/steami_config/device.py b/lib/steami_config/steami_config/device.py
index 6d8e684..9d51b0c 100644
--- a/lib/steami_config/steami_config/device.py
+++ b/lib/steami_config/steami_config/device.py
@@ -205,3 +205,59 @@ def apply_magnetometer_calibration(self, lis2mdl_instance):
         lis2mdl_instance.x_scale = cal["soft_iron_x"]
         lis2mdl_instance.y_scale = cal["soft_iron_y"]
         lis2mdl_instance.z_scale = cal["soft_iron_z"]
+
+    # --------------------------------------------------
+    # Accelerometer calibration
+    # --------------------------------------------------
+
+    def set_accelerometer_calibration(self, ox=0.0, oy=0.0, oz=0.0):
+        """Store accelerometer bias offsets (in g).
+
+        Args:
+            ox: X-axis offset
+            oy: Y-axis offset
+            oz: Z-axis offset
+        """
+        self._data["cal_accel"] = {
+            "ox": float(ox),
+            "oy": float(oy),
+            "oz": float(oz),
+        }
+
+
+    def get_accelerometer_calibration(self):
+        """Return accelerometer calibration offsets.
+
+        Returns:
+            dict with ox, oy, oz or None
+        """
+        cal = self._data.get("cal_accel")
+        if cal is None:
+            return None
+
+        return {
+            "ox": cal.get("ox", 0.0),
+            "oy": cal.get("oy", 0.0),
+            "oz": cal.get("oz", 0.0),
+        }
+
+
+    def apply_accelerometer_calibration(self, ism330dl_instance):
+        """Apply stored calibration to ISM330DL instance.
+
+        The instance must support offset attributes (user-defined).
+
+        Args:
+            ism330dl_instance: ISM330DL driver instance
+        """
+        if type(ism330dl_instance).__name__.lower() != "ism330dl":
+            return
+
+        cal = self.get_accelerometer_calibration()
+        if cal is None:
+            return
+
+        # the driver does NOT have native offset support, so we add attributes dynamically
+        ism330dl_instance._accel_offset_x = cal["ox"]
+        ism330dl_instance._accel_offset_y = cal["oy"]
+        ism330dl_instance._accel_offset_z = cal["oz"]

From 53415d5d0ce7e257eceb28410f4e06f034ccb255 Mon Sep 17 00:00:00 2001
From: Charly-sketch <glic.per@gmail.com>
Date: Mon, 30 Mar 2026 11:40:35 +0200
Subject: [PATCH 02/15] feat(ism330dl): add example for permanent config

---
 .../examples/calibrate_accelerometer.py       | 100 ++++++++++++++++++
 1 file changed, 100 insertions(+)
 create mode 100644 lib/steami_config/examples/calibrate_accelerometer.py

diff --git a/lib/steami_config/examples/calibrate_accelerometer.py b/lib/steami_config/examples/calibrate_accelerometer.py
new file mode 100644
index 0000000..39f29ce
--- /dev/null
+++ b/lib/steami_config/examples/calibrate_accelerometer.py
@@ -0,0 +1,100 @@
+"""Calibrate ISM330DL accelerometer bias and save to persistent config.
+
+This example measures accelerometer offsets while the board is lying flat.
+The computed offsets (ox, oy, oz) are stored in the config zone and
+survive power cycles.
+
+Instructions:
+- Place the board flat and still (screen up)
+- Wait for measurement
+"""
+
+from time import sleep_ms
+
+from daplink_bridge import DaplinkBridge
+from ism330dl import ISM330DL
+from machine import I2C
+from steami_config import SteamiConfig
+
+# --- Init ---
+print("Initializing...")
+
+i2c = I2C(1)
+print("I2C initialized.")
+bridge = DaplinkBridge(i2c)
+print("DaplinkBridge initialized.")
+config = SteamiConfig(bridge)
+print("SteamiConfig initialized.")
+config.load()
+
+print("Initialization complete.\n")
+imu = ISM330DL(i2c)
+
+print("=== Accelerometer Calibration ===\n")
+print("Place the board flat (screen up) and keep it still...")
+sleep_ms(2000)
+
+# --- Step 1: Collect samples ---
+
+samples = 100
+sx = sy = sz = 0.0
+
+for _i in range(samples):
+    ax, ay, az = imu.acceleration_g()
+    sx += ax
+    sy += ay
+    sz += az
+    sleep_ms(20)
+
+ax = sx / samples
+ay = sy / samples
+az = sz / samples
+
+# Expected: (0, 0, -1g) when flat (screen up)
+ox = ax
+oy = ay
+oz = az + 1.0  # compensate gravity
+
+print("\nMeasured average:")
+print("  ax = {:.3f} g".format(ax))
+print("  ay = {:.3f} g".format(ay))
+print("  az = {:.3f} g".format(az))
+
+print("\nComputed offsets:")
+print("  ox = {:.3f}".format(ox))
+print("  oy = {:.3f}".format(oy))
+print("  oz = {:.3f}".format(oz))
+
+# --- Step 2: Save ---
+
+config.set_accelerometer_calibration(ox=ox, oy=oy, oz=oz)
+config.save()
+
+print("\nCalibration saved to config zone.")
+
+# --- Step 3: Verify ---
+
+config2 = SteamiConfig(bridge)
+config2.load()
+
+imu2 = ISM330DL(i2c)
+config2.apply_accelerometer_calibration(imu2)
+
+print("\nVerification (5 readings):")
+
+for i in range(5):
+    ax, ay, az = imu2.acceleration_g()
+
+    # Apply offsets manually (driver not patched yet)
+    ox = getattr(imu2, "_accel_offset_x", 0.0)
+    oy = getattr(imu2, "_accel_offset_y", 0.0)
+    oz = getattr(imu2, "_accel_offset_z", 0.0)
+
+    ax -= ox
+    ay -= oy
+    az -= oz
+
+    print("  {}: ax={:.3f} ay={:.3f} az={:.3f}".format(i + 1, ax, ay, az))
+    sleep_ms(500)
+
+print("\nDone! Calibration will persist across reboots.")

From ad477c2c6c7495da7054937847b02cdca1276612 Mon Sep 17 00:00:00 2001
From: Charly-sketch <glic.per@gmail.com>
Date: Mon, 30 Mar 2026 14:12:15 +0200
Subject: [PATCH 03/15] feat(ism330dl): add accelerometer offset support and
 calibration helpers

---
 lib/ism330dl/ism330dl/device.py | 26 +++++++++++++++++++++++++-
 1 file changed, 25 insertions(+), 1 deletion(-)

diff --git a/lib/ism330dl/ism330dl/device.py b/lib/ism330dl/ism330dl/device.py
index 5f4b3f5..b0d4a7c 100644
--- a/lib/ism330dl/ism330dl/device.py
+++ b/lib/ism330dl/ism330dl/device.py
@@ -51,6 +51,10 @@ def __init__(self, i2c, address=ISM330DL_I2C_DEFAULT_ADDR):
         self._gyro_scale = GYRO_FS_250DPS
         self._gyro_odr = GYRO_ODR_104HZ
 
+        self._accel_offset_x = 0.0
+        self._accel_offset_y = 0.0
+        self._accel_offset_z = 0.0
+
         self._temp_gain = 1.0
         self._temp_offset = 0.0
 
@@ -200,7 +204,27 @@ def temperature_raw(self):
     def acceleration_g(self):
         sens = ACCEL_SENSITIVITY_MG[self._accel_scale]
         raw = self.acceleration_raw()
-        return tuple((v * sens) / 1000.0 for v in raw)
+        values = tuple((v * sens) / 1000.0 for v in raw)
+
+        return (
+            values[0] - self._accel_offset_x,
+            values[1] - self._accel_offset_y,
+            values[2] - self._accel_offset_z,
+        )
+
+    def set_accel_offset(self, ox=0.0, oy=0.0, oz=0.0):
+        """Set accelerometer bias offsets in g."""
+        self._accel_offset_x = float(ox)
+        self._accel_offset_y = float(oy)
+        self._accel_offset_z = float(oz)
+
+    def get_accel_offset(self):
+        """Return accelerometer bias offsets in g."""
+        return (
+            self._accel_offset_x,
+            self._accel_offset_y,
+            self._accel_offset_z,
+        )
 
     def acceleration_ms2(self):
         g = self.acceleration_g()

From 1f80aac045e8c14ecb2cae66ae035bb236a28763 Mon Sep 17 00:00:00 2001
From: Charly-sketch <glic.per@gmail.com>
Date: Mon, 30 Mar 2026 14:12:57 +0200
Subject: [PATCH 04/15] feat(steami_config): add ism330dl calibration
 persistence

---
 lib/steami_config/steami_config/device.py | 17 ++++++-----------
 1 file changed, 6 insertions(+), 11 deletions(-)

diff --git a/lib/steami_config/steami_config/device.py b/lib/steami_config/steami_config/device.py
index 9d51b0c..b5b04aa 100644
--- a/lib/steami_config/steami_config/device.py
+++ b/lib/steami_config/steami_config/device.py
@@ -243,13 +243,7 @@ def get_accelerometer_calibration(self):
 
 
     def apply_accelerometer_calibration(self, ism330dl_instance):
-        """Apply stored calibration to ISM330DL instance.
-
-        The instance must support offset attributes (user-defined).
-
-        Args:
-            ism330dl_instance: ISM330DL driver instance
-        """
+        """Apply stored accelerometer calibration to an ISM330DL instance."""
         if type(ism330dl_instance).__name__.lower() != "ism330dl":
             return
 
@@ -257,7 +251,8 @@ def apply_accelerometer_calibration(self, ism330dl_instance):
         if cal is None:
             return
 
-        # the driver does NOT have native offset support, so we add attributes dynamically
-        ism330dl_instance._accel_offset_x = cal["ox"]
-        ism330dl_instance._accel_offset_y = cal["oy"]
-        ism330dl_instance._accel_offset_z = cal["oz"]
+        ism330dl_instance.set_accel_offset(
+            cal["ox"],
+            cal["oy"],
+            cal["oz"],
+        )

From 1cf93fb10f595f1478dfb0d6fe7bec94cc8f9806 Mon Sep 17 00:00:00 2001
From: Charly-sketch <glic.per@gmail.com>
Date: Mon, 30 Mar 2026 14:13:35 +0200
Subject: [PATCH 05/15] feat(steami_config): add accelerometer calibration
 example for ISM330DL

---
 .../examples/calibrate_accelerometer.py       | 40 +++++++------------
 1 file changed, 15 insertions(+), 25 deletions(-)

diff --git a/lib/steami_config/examples/calibrate_accelerometer.py b/lib/steami_config/examples/calibrate_accelerometer.py
index 39f29ce..44f7b42 100644
--- a/lib/steami_config/examples/calibrate_accelerometer.py
+++ b/lib/steami_config/examples/calibrate_accelerometer.py
@@ -17,17 +17,12 @@
 from steami_config import SteamiConfig
 
 # --- Init ---
-print("Initializing...")
 
 i2c = I2C(1)
-print("I2C initialized.")
 bridge = DaplinkBridge(i2c)
-print("DaplinkBridge initialized.")
 config = SteamiConfig(bridge)
-print("SteamiConfig initialized.")
 config.load()
 
-print("Initialization complete.\n")
 imu = ISM330DL(i2c)
 
 print("=== Accelerometer Calibration ===\n")
@@ -39,7 +34,7 @@
 samples = 100
 sx = sy = sz = 0.0
 
-for _i in range(samples):
+for _ in range(samples):
     ax, ay, az = imu.acceleration_g()
     sx += ax
     sy += ay
@@ -50,10 +45,10 @@
 ay = sy / samples
 az = sz / samples
 
-# Expected: (0, 0, -1g) when flat (screen up)
+# Expected resting orientation: flat, screen up -> (0, 0, -1g)
 ox = ax
 oy = ay
-oz = az + 1.0  # compensate gravity
+oz = az + 1.0
 
 print("\nMeasured average:")
 print("  ax = {:.3f} g".format(ax))
@@ -61,18 +56,18 @@
 print("  az = {:.3f} g".format(az))
 
 print("\nComputed offsets:")
-print("  ox = {:.3f}".format(ox))
-print("  oy = {:.3f}".format(oy))
-print("  oz = {:.3f}".format(oz))
+print("  ox = {:.3f} g".format(ox))
+print("  oy = {:.3f} g".format(oy))
+print("  oz = {:.3f} g".format(oz))
 
-# --- Step 2: Save ---
+# --- Step 2: Save to config zone ---
 
 config.set_accelerometer_calibration(ox=ox, oy=oy, oz=oz)
 config.save()
 
 print("\nCalibration saved to config zone.")
 
-# --- Step 3: Verify ---
+# --- Step 3: Verify after reload ---
 
 config2 = SteamiConfig(bridge)
 config2.load()
@@ -80,21 +75,16 @@
 imu2 = ISM330DL(i2c)
 config2.apply_accelerometer_calibration(imu2)
 
-print("\nVerification (5 readings):")
+print("\nApplied offsets after reload:")
+ox2, oy2, oz2 = imu2.get_accel_offset()
+print("  ox = {:.3f} g".format(ox2))
+print("  oy = {:.3f} g".format(oy2))
+print("  oz = {:.3f} g".format(oz2))
 
+print("\nVerification (5 corrected readings):")
 for i in range(5):
     ax, ay, az = imu2.acceleration_g()
-
-    # Apply offsets manually (driver not patched yet)
-    ox = getattr(imu2, "_accel_offset_x", 0.0)
-    oy = getattr(imu2, "_accel_offset_y", 0.0)
-    oz = getattr(imu2, "_accel_offset_z", 0.0)
-
-    ax -= ox
-    ay -= oy
-    az -= oz
-
     print("  {}: ax={:.3f} ay={:.3f} az={:.3f}".format(i + 1, ax, ay, az))
     sleep_ms(500)
 
-print("\nDone! Calibration will persist across reboots.")
+print("\nDone! Calibration is stored and will be restored at next boot.")

From 74c5b0e712dfe72177c5713af31fd3579545ea38 Mon Sep 17 00:00:00 2001
From: Charly-sketch <glic.per@gmail.com>
Date: Mon, 30 Mar 2026 14:25:33 +0200
Subject: [PATCH 06/15] test(ism330dl): add accelerometer offset tests

---
 tests/scenarios/ism330dl.yaml | 66 +++++++++++++++++++++++++++++++++++
 1 file changed, 66 insertions(+)

diff --git a/tests/scenarios/ism330dl.yaml b/tests/scenarios/ism330dl.yaml
index 21595bc..2c4d39b 100644
--- a/tests/scenarios/ism330dl.yaml
+++ b/tests/scenarios/ism330dl.yaml
@@ -100,6 +100,72 @@ tests:
     expect_true: true
     mode: [hardware]
 
+  - name: "Get accel offset returns defaults"
+    action: script
+    script: |
+      ox, oy, oz = dev.get_accel_offset()
+      result = ox == 0.0 and oy == 0.0 and oz == 0.0
+    expect_true: true
+    mode: [mock]
+
+  - name: "Set accel offset updates stored values"
+    action: script
+    script: |
+      dev.set_accel_offset(0.01, -0.02, 0.03)
+      ox, oy, oz = dev.get_accel_offset()
+      result = ox == 0.01 and oy == -0.02 and oz == 0.03
+    expect_true: true
+    mode: [mock]
+
+  - name: "Acceleration g applies accel offsets"
+    action: script
+    script: |
+      dev.set_accel_offset(0.1, -0.2, 0.3)
+      ax, ay, az = dev.acceleration_g()
+      result = (
+          abs(ax - (-0.1)) < 0.01
+          and abs(ay - 0.2) < 0.01
+          and abs(az - 0.7) < 0.01
+      )
+    expect_true: true
+    mode: [mock]
+
+  - name: "Acceleration ms2 applies accel offsets"
+    action: script
+    script: |
+      dev.set_accel_offset(0.1, 0.0, 0.0)
+      ax, ay, az = dev.acceleration_ms2()
+      result = abs(ax - (-0.1 * 9.80665)) < 0.02
+    expect_true: true
+    mode: [mock]
+
+  - name: "Orientation changes with accel offset"
+    action: script
+    script: |
+      dev.set_accel_offset(0.0, 0.0, 2.0)
+      result = dev.orientation() == "SCREEN_UP"
+    expect_true: true
+    mode: [mock]
+
+  - name: "Set and get accel offset on hardware"
+    action: script
+    script: |
+      dev.set_accel_offset(0.01, -0.02, 0.03)
+      ox, oy, oz = dev.get_accel_offset()
+      result = ox == 0.01 and oy == -0.02 and oz == 0.03
+    expect_true: true
+    mode: [hardware]
+
+  - name: "Accel offset affects hardware readings"
+    action: script
+    script: |
+      ax1, ay1, az1 = dev.acceleration_g()
+      dev.set_accel_offset(0.1, 0.0, 0.0)
+      ax2, ay2, az2 = dev.acceleration_g()
+      result = abs((ax1 - ax2) - 0.1) < 0.05
+    expect_true: true
+    mode: [hardware]
+
   # ----- Gyroscope -----
 
   - name: "Gyroscope raw returns tuple of 3 ints"

From edc9a231bfe3cfa18b44c340d06b6b8522199fbc Mon Sep 17 00:00:00 2001
From: Charly-sketch <glic.per@gmail.com>
Date: Mon, 30 Mar 2026 14:35:50 +0200
Subject: [PATCH 07/15] test(steami_config): add accelerometer calibration
 tests

---
 tests/scenarios/steami_config.yaml | 160 +++++++++++++++++++++++++++++
 1 file changed, 160 insertions(+)

diff --git a/tests/scenarios/steami_config.yaml b/tests/scenarios/steami_config.yaml
index b3d2941..9e4ace6 100644
--- a/tests/scenarios/steami_config.yaml
+++ b/tests/scenarios/steami_config.yaml
@@ -48,6 +48,7 @@ tests:
     expect_true: true
     mode: [mock]
 
+  # -- Mock Temperature Calibration --
   - name: "Set and get temperature calibration"
     action: script
     script: |
@@ -126,6 +127,7 @@ tests:
     expect_true: true
     mode: [mock]
 
+  # -- Mock Magnetometer Calibration --
   - name: "Set and get magnetometer calibration"
     action: script
     script: |
@@ -243,6 +245,98 @@ tests:
       result = dev.board_name == "Test-Board"
     expect_true: true
     mode: [mock]
+  
+  # -- Mock Accelerometer Calibration --
+  - name: "Set and get accelerometer calibration"
+    action: script
+    script: |
+      dev._data = {}
+      dev.set_accelerometer_calibration(ox=0.01, oy=-0.02, oz=0.03)
+      cal = dev.get_accelerometer_calibration()
+      result = (
+          cal["ox"] == 0.01
+          and cal["oy"] == -0.02
+          and cal["oz"] == 0.03
+      )
+    expect_true: true
+    mode: [mock]
+
+  - name: "Get accelerometer calibration returns None when not set"
+    action: script
+    script: |
+      dev._data = {}
+      result = dev.get_accelerometer_calibration() is None
+    expect_true: true
+    mode: [mock]
+
+  - name: "Apply accelerometer calibration to ISM330DL"
+    action: script
+    script: |
+      dev._data = {"cal_accel": {"ox": 0.01, "oy": -0.02, "oz": 0.03}}
+
+      class ISM330DL(object):
+          def __init__(self):
+              self._accel_offset_x = 0.0
+              self._accel_offset_y = 0.0
+              self._accel_offset_z = 0.0
+
+          def set_accel_offset(self, ox=0.0, oy=0.0, oz=0.0):
+              self._accel_offset_x = ox
+              self._accel_offset_y = oy
+              self._accel_offset_z = oz
+
+      imu = ISM330DL()
+      dev.apply_accelerometer_calibration(imu)
+      result = (
+          imu._accel_offset_x == 0.01
+          and imu._accel_offset_y == -0.02
+          and imu._accel_offset_z == 0.03
+      )
+    expect_true: true
+    mode: [mock]
+
+  - name: "Apply accelerometer calibration does nothing when not set"
+    action: script
+    script: |
+      dev._data = {}
+
+      class ISM330DL(object):
+          def __init__(self):
+              self._accel_offset_x = 0.0
+              self._accel_offset_y = 0.0
+              self._accel_offset_z = 0.0
+
+          def set_accel_offset(self, ox=0.0, oy=0.0, oz=0.0):
+              self._accel_offset_x = ox
+              self._accel_offset_y = oy
+              self._accel_offset_z = oz
+
+      imu = ISM330DL()
+      dev.apply_accelerometer_calibration(imu)
+      result = (
+          imu._accel_offset_x == 0.0
+          and imu._accel_offset_y == 0.0
+          and imu._accel_offset_z == 0.0
+      )
+    expect_true: true
+    mode: [mock]
+
+  - name: "Accelerometer calibration survives save/load"
+    action: script
+    script: |
+      dev._data = {}
+      dev.set_accelerometer_calibration(ox=0.01, oy=-0.02, oz=0.03)
+      dev.save()
+      dev2 = SteamiConfig(dev._bridge)
+      dev2.load()
+      cal = dev2.get_accelerometer_calibration()
+      result = (
+          cal["ox"] == 0.01
+          and cal["oy"] == -0.02
+          and cal["oz"] == 0.03
+      )
+    expect_true: true
+    mode: [mock]
 
   # ----- Hardware -----
 
@@ -286,6 +380,7 @@ tests:
     expect_true: true
     mode: [hardware]
 
+  # -- Hardware Temperature Calibration --
   - name: "Apply calibration to real sensor"
     action: script
     script: |
@@ -310,6 +405,7 @@ tests:
     expect_true: true
     mode: [hardware]
 
+  # -- Hardware Magnetometer Calibration --
   - name: "Save and load magnetometer calibration on hardware"
     action: script
     script: |
@@ -381,3 +477,67 @@ tests:
       )
     expect_true: true
     mode: [hardware]
+
+  # -- Hardware Accelerometer Calibration --
+  - name: "Save and load accelerometer calibration on hardware"
+    action: script
+    script: |
+      from time import sleep_ms
+      dev._bridge.clear_config()
+      dev._data = {}
+      dev.set_accelerometer_calibration(ox=0.01, oy=-0.02, oz=0.03)
+      dev.save()
+      sleep_ms(200)
+      dev2 = SteamiConfig(dev._bridge)
+      dev2.load()
+      cal = dev2.get_accelerometer_calibration()
+      result = (
+          cal["ox"] == 0.01
+          and cal["oy"] == -0.02
+          and cal["oz"] == 0.03
+      )
+    expect_true: true
+    mode: [hardware]
+
+  - name: "Apply accelerometer calibration to real ISM330DL"
+    action: script
+    script: |
+      from time import sleep_ms
+      from ism330dl import ISM330DL
+      imu = ISM330DL(i2c)
+      dev._bridge.clear_config()
+      dev._data = {}
+      dev.set_accelerometer_calibration(ox=0.01, oy=-0.02, oz=0.03)
+      dev.save()
+      sleep_ms(200)
+      dev2 = SteamiConfig(dev._bridge)
+      dev2.load()
+      dev2.apply_accelerometer_calibration(imu)
+      ox, oy, oz = imu.get_accel_offset()
+      result = ox == 0.01 and oy == -0.02 and oz == 0.03
+    expect_true: true
+    mode: [hardware]
+
+  - name: "Accelerometer calibration coexists with temperature calibration"
+    action: script
+    script: |
+      from time import sleep_ms
+      dev._bridge.clear_config()
+      dev._data = {}
+      dev.set_temperature_calibration("hts221", gain=1.05, offset=-0.3)
+      dev.set_accelerometer_calibration(ox=0.01, oy=-0.02, oz=0.03)
+      dev.save()
+      sleep_ms(200)
+      dev2 = SteamiConfig(dev._bridge)
+      dev2.load()
+      tc = dev2.get_temperature_calibration("hts221")
+      ac = dev2.get_accelerometer_calibration()
+      result = (
+          tc["gain"] == 1.05
+          and tc["offset"] == -0.3
+          and ac["ox"] == 0.01
+          and ac["oy"] == -0.02
+          and ac["oz"] == 0.03
+      )
+    expect_true: true
+    mode: [hardware]

From 109372e6c65b4a9755659056ba4d864e1a9af684 Mon Sep 17 00:00:00 2001
From: Charly-sketch <glic.per@gmail.com>
Date: Mon, 30 Mar 2026 14:52:42 +0200
Subject: [PATCH 08/15] docs(ism330dl): add accelerometer calibration

---
 lib/ism330dl/README.md | 35 ++++++++++++++++++++++++++++++++++-
 1 file changed, 34 insertions(+), 1 deletion(-)

diff --git a/lib/ism330dl/README.md b/lib/ism330dl/README.md
index 66f2b09..fe7d24c 100644
--- a/lib/ism330dl/README.md
+++ b/lib/ism330dl/README.md
@@ -20,6 +20,7 @@ This driver provides a simple API to configure the sensor and read motion data u
 * raw sensor readings
 * converted physical units
 * board orientation reading
+* accelerometer bias offset correction
 * board rotation reading
 * temperature reading
 * data-ready status helpers
@@ -125,6 +126,38 @@ imu.acceleration_ms2()
 imu.orientation()
 ```
 
+### Accelerometer calibration
+
+The driver supports accelerometer bias correction using per-axis offsets.
+
+### Set offsets
+
+```python
+imu.set_accel_offset(ox=0.01, oy=-0.02, oz=0.03)
+```
+
+### Get offsets
+```python
+imu.get_accel_offset()
+# -> (0.01, -0.02, 0.03)
+```
+
+### Notes on persistent calibration (STeaMi)
+
+On the STeaMi board, accelerometer calibration can be stored using
+`steami_config` and automatically applied at startup:
+
+```python
+from steami_config import SteamiConfig
+from daplink_bridge import DaplinkBridge
+
+config = SteamiConfig(DaplinkBridge(i2c))
+config.load()
+
+imu = ISM330DL(i2c)
+config.apply_accelerometer_calibration(imu)
+```
+
 ---
 
 ## Gyroscope
@@ -251,4 +284,4 @@ The repository provides several example scripts:
 | `static_orientation.py` | Detect device orientation using the accelerometer |
 | `motion_orientation.py` | Detect rotation using the gyroscope               |
 
----
\ No newline at end of file
+---

From da38e62c0fd0e7e89928a7388095308324c6cbf1 Mon Sep 17 00:00:00 2001
From: Charly-sketch <glic.per@gmail.com>
Date: Mon, 30 Mar 2026 14:52:56 +0200
Subject: [PATCH 09/15] docs(steami_config): add accelerometer calibration

---
 lib/steami_config/README.md | 28 +++++++++++++++++++++++++++-
 1 file changed, 27 insertions(+), 1 deletion(-)

diff --git a/lib/steami_config/README.md b/lib/steami_config/README.md
index c361916..88524df 100644
--- a/lib/steami_config/README.md
+++ b/lib/steami_config/README.md
@@ -118,12 +118,35 @@ config.apply_magnetometer_calibration(mag)
 
 ---
 
+## Accelerometer Calibration
+
+Store and restore accelerometer bias offsets for the ISM330DL.
+
+### Store calibration
+
+```python
+config.set_accelerometer_calibration(ox=0.01, oy=-0.02, oz=0.03)
+Read calibration
+cal = config.get_accelerometer_calibration()
+# -> {"ox": 0.01, "oy": -0.02, "oz": 0.03}   or   None
+```
+
+### Apply calibration to a sensor
+```python
+from ism330dl import ISM330DL
+
+imu = ISM330DL(i2c)
+config.apply_accelerometer_calibration(imu)
+```
+
+---
+
 # JSON Format
 
 Data is stored as compact JSON to fit within 1 KB:
 
 ```json
-{"rev":3,"name":"STeaMi-01","tc":{"hts":{"g":1.0,"o":-0.5}},"cm":{"hx":12.3,"hy":-5.1,"hz":0.8,"sx":1.01,"sy":0.98,"sz":1.0}}
+{"rev":3,"name":"STeaMi-01","tc":{"hts":{"g":1.0,"o":-0.5}},"cm":{"hx":12.3,"hy":-5.1,"hz":0.8,"sx":1.01,"sy":0.98,"sz":1.0},"cal_accel":{"ox":0.01,"oy":-0.02,"oz":0.03}}
 ```
 
 | Key | Content |
@@ -136,6 +159,8 @@ Data is stored as compact JSON to fit within 1 KB:
 | `cm` | Magnetometer calibration dict |
 | `cm.hx/hy/hz` | Hard-iron offsets (X, Y, Z) |
 | `cm.sx/sy/sz` | Soft-iron scale factors (X, Y, Z) |
+| `cal_accel` | Accelerometer calibration dict |
+| `cal_accel.ox/oy/oz` | Bias offsets in g (X, Y, Z) |
 
 Sensor short keys: `hts` (HTS221), `mag` (LIS2MDL), `ism` (ISM330DL),
 `hid` (WSEN-HIDS), `pad` (WSEN-PADS).
@@ -149,6 +174,7 @@ Sensor short keys: `hts` (HTS221), `mag` (LIS2MDL), `ism` (ISM330DL),
 | `show_config.py` | Display current board configuration |
 | `calibrate_temperature.py` | Calibrate all sensors against WSEN-HIDS reference |
 | `calibrate_magnetometer.py` | Calibrate LIS2MDL with OLED display and persistent storage |
+| `calibrate_accelerometer.py` | Calibrate ISM330DL accelerometer bias and persist it |
 
 Run with mpremote:
 

From f6c1c8beaea90e70cdb089e27793c7369e2d81b6 Mon Sep 17 00:00:00 2001
From: Charly-sketch <glic.per@gmail.com>
Date: Wed, 1 Apr 2026 13:47:03 +0200
Subject: [PATCH 10/15] docs(steami_config): update accelerometer calibration
 section in README

---
 lib/steami_config/README.md | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/lib/steami_config/README.md b/lib/steami_config/README.md
index 88524df..4eb2add 100644
--- a/lib/steami_config/README.md
+++ b/lib/steami_config/README.md
@@ -126,7 +126,11 @@ Store and restore accelerometer bias offsets for the ISM330DL.
 
 ```python
 config.set_accelerometer_calibration(ox=0.01, oy=-0.02, oz=0.03)
-Read calibration
+```
+
+### Read calibration
+
+```python
 cal = config.get_accelerometer_calibration()
 # -> {"ox": 0.01, "oy": -0.02, "oz": 0.03}   or   None
 ```

From 76ce8b25d1fed07c2830613357b64dae861acc52 Mon Sep 17 00:00:00 2001
From: Charly-sketch <glic.per@gmail.com>
Date: Wed, 1 Apr 2026 13:50:57 +0200
Subject: [PATCH 11/15] style(steami_config): remove unnecessary blank lines in
 device.py

---
 lib/steami_config/steami_config/device.py | 2 --
 1 file changed, 2 deletions(-)

diff --git a/lib/steami_config/steami_config/device.py b/lib/steami_config/steami_config/device.py
index b5b04aa..68ca7f2 100644
--- a/lib/steami_config/steami_config/device.py
+++ b/lib/steami_config/steami_config/device.py
@@ -12,7 +12,6 @@
 # Reverse map: short key -> sensor name.
 _KEY_SENSORS = {v: k for k, v in _SENSOR_KEYS.items()}
 
-
 class SteamiConfig(object):
     """Persistent configuration stored in the DAPLink F103 config zone.
 
@@ -224,7 +223,6 @@ def set_accelerometer_calibration(self, ox=0.0, oy=0.0, oz=0.0):
             "oz": float(oz),
         }
 
-
     def get_accelerometer_calibration(self):
         """Return accelerometer calibration offsets.
 

From 269db8220c76dd91cae58e9aa92f4464f20f0d86 Mon Sep 17 00:00:00 2001
From: Charly-sketch <glic.per@gmail.com>
Date: Wed, 1 Apr 2026 13:57:53 +0200
Subject: [PATCH 12/15] refactor(steami_config): rename accelerometer
 calibration key to reduce size

---
 lib/steami_config/README.md               | 6 +++---
 lib/steami_config/steami_config/device.py | 4 ++--
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/lib/steami_config/README.md b/lib/steami_config/README.md
index 4eb2add..5335b03 100644
--- a/lib/steami_config/README.md
+++ b/lib/steami_config/README.md
@@ -150,7 +150,7 @@ config.apply_accelerometer_calibration(imu)
 Data is stored as compact JSON to fit within 1 KB:
 
 ```json
-{"rev":3,"name":"STeaMi-01","tc":{"hts":{"g":1.0,"o":-0.5}},"cm":{"hx":12.3,"hy":-5.1,"hz":0.8,"sx":1.01,"sy":0.98,"sz":1.0},"cal_accel":{"ox":0.01,"oy":-0.02,"oz":0.03}}
+{"rev":3,"name":"STeaMi-01","tc":{"hts":{"g":1.0,"o":-0.5}},"cm":{"hx":12.3,"hy":-5.1,"hz":0.8,"sx":1.01,"sy":0.98,"sz":1.0},"ca":{"ox":0.01,"oy":-0.02,"oz":0.03}}
 ```
 
 | Key | Content |
@@ -163,8 +163,8 @@ Data is stored as compact JSON to fit within 1 KB:
 | `cm` | Magnetometer calibration dict |
 | `cm.hx/hy/hz` | Hard-iron offsets (X, Y, Z) |
 | `cm.sx/sy/sz` | Soft-iron scale factors (X, Y, Z) |
-| `cal_accel` | Accelerometer calibration dict |
-| `cal_accel.ox/oy/oz` | Bias offsets in g (X, Y, Z) |
+| `ca` | Accelerometer calibration dict |
+| `ca.ox/oy/oz` | Bias offsets in g (X, Y, Z) |
 
 Sensor short keys: `hts` (HTS221), `mag` (LIS2MDL), `ism` (ISM330DL),
 `hid` (WSEN-HIDS), `pad` (WSEN-PADS).
diff --git a/lib/steami_config/steami_config/device.py b/lib/steami_config/steami_config/device.py
index 68ca7f2..398341c 100644
--- a/lib/steami_config/steami_config/device.py
+++ b/lib/steami_config/steami_config/device.py
@@ -217,7 +217,7 @@ def set_accelerometer_calibration(self, ox=0.0, oy=0.0, oz=0.0):
             oy: Y-axis offset
             oz: Z-axis offset
         """
-        self._data["cal_accel"] = {
+        self._data["ca"] = {
             "ox": float(ox),
             "oy": float(oy),
             "oz": float(oz),
@@ -229,7 +229,7 @@ def get_accelerometer_calibration(self):
         Returns:
             dict with ox, oy, oz or None
         """
-        cal = self._data.get("cal_accel")
+        cal = self._data.get("ca")
         if cal is None:
             return None
 

From 6847a16d63dbf15b60531ad273798c0c1b302a31 Mon Sep 17 00:00:00 2001
From: Charly-sketch <glic.per@gmail.com>
Date: Wed, 1 Apr 2026 14:04:19 +0200
Subject: [PATCH 13/15] docs(steami_config): clarify Z offset calculation in
 comments

in calibrate accel example
---
 lib/steami_config/examples/calibrate_accelerometer.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/lib/steami_config/examples/calibrate_accelerometer.py b/lib/steami_config/examples/calibrate_accelerometer.py
index 44f7b42..0a0081f 100644
--- a/lib/steami_config/examples/calibrate_accelerometer.py
+++ b/lib/steami_config/examples/calibrate_accelerometer.py
@@ -49,6 +49,8 @@
 ox = ax
 oy = ay
 oz = az + 1.0
+# Flat, screen up → expected (0,0,-1g), so Z offset = measured - (-1g) = az + 1.0
+# because gravity points downward while the sensor Z axis is defined positive downward
 
 print("\nMeasured average:")
 print("  ax = {:.3f} g".format(ax))

From 3d3a5b74bb111121eb4cb82eb16c9863d6ca546a Mon Sep 17 00:00:00 2001
From: Charly-sketch <glic.per@gmail.com>
Date: Wed, 1 Apr 2026 14:07:37 +0200
Subject: [PATCH 14/15] docs(ism330dl): add separation after get offset

---
 lib/ism330dl/README.md | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/lib/ism330dl/README.md b/lib/ism330dl/README.md
index fe7d24c..c742b03 100644
--- a/lib/ism330dl/README.md
+++ b/lib/ism330dl/README.md
@@ -142,6 +142,8 @@ imu.get_accel_offset()
 # -> (0.01, -0.02, 0.03)
 ```
 
+---
+
 ### Notes on persistent calibration (STeaMi)
 
 On the STeaMi board, accelerometer calibration can be stored using

From e9de067e729f2a88a96289e2a30805bbae7c4d5f Mon Sep 17 00:00:00 2001
From: Charly-sketch <glic.per@gmail.com>
Date: Wed, 1 Apr 2026 14:20:01 +0200
Subject: [PATCH 15/15] test(steami_config): rename accelerometer calibration
 key for ISM330DL

---
 tests/scenarios/steami_config.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tests/scenarios/steami_config.yaml b/tests/scenarios/steami_config.yaml
index 9e4ace6..6021016 100644
--- a/tests/scenarios/steami_config.yaml
+++ b/tests/scenarios/steami_config.yaml
@@ -272,7 +272,7 @@ tests:
   - name: "Apply accelerometer calibration to ISM330DL"
     action: script
     script: |
-      dev._data = {"cal_accel": {"ox": 0.01, "oy": -0.02, "oz": 0.03}}
+      dev._data = {"ca": {"ox": 0.01, "oy": -0.02, "oz": 0.03}}
 
       class ISM330DL(object):
           def __init__(self):