ESP32 Smart-Pen Firmware & CAD

I’m advancing a connected-pen prototype built around an ESP32, a compact LCD, and a 9-axis IMU. My rough Arduino-IDE sketch runs, but it needs clean, documented code and solid debugging so the three boards talk flawlessly. Key tasks include:

• Writing/optimising firmware that reads IMU data over I²C (or SPI if cleaner), processes orientation, then updates the LCD in real time without flicker.
• Adding power-saving routines and OTA update support for the ESP32.
• Tracing and curing the intermittent reset bug I’m seeing when the screen backlight spikes.

On the mechanical side, the pen’s housing is partly modelled in Fusion 360. I’d like help tightening the design and then generating reliable three-axis toolpaths for my small GRBL-based router so I can mill the shells in acrylic and aluminium.

Deliverables
1. Well-commented Arduino-IDE project that compiles cleanly for ESP32, streams IMU data to the LCD, and survives a 24-hour runtime test.
2. Step/FCStd/F3D files of the final enclosure, plus post-processed G-code ready for my ¼-inch and 1 mm end mills.
3. Short write-up (or inline comments) explaining any hardware changes you recommend.

If you know your way around ESP-IDF or prefer PlatformIO, I’m open, but Arduino compatibility has to remain. Let’s make this pen behave like a product-ready device.