sequenceDiagram
    participant HW as MPU6050 Hardware
    participant MPU as MPU Task<br/>(Core 0)
    participant CH as IMU_CHANNEL<br/>[16 slots]
    participant MAIN as Main Loop<br/>(Core 0)
    participant LATEST as IMU_LATEST<br/>(Mutex)
    participant MQTT as MQTT Task<br/>(Core 1)
    participant DISP as Display API
    
    Note over MPU: Every 50ms
    MPU->>HW: Read sensor (I2C)
    HW-->>MPU: Raw data
    MPU->>MPU: Convert to ImuReading
    MPU->>CH: try_send(reading)
    
    alt Channel full
        CH--xMPU: Drop (log warning)
    else Channel has space
        CH-->>MPU: OK
    end
    
    Note over MAIN: Continuous loop
    MAIN->>CH: receive() [blocking]
    CH-->>MAIN: reading
    
    Note over MAIN: Drain queue
    loop While available
        MAIN->>CH: try_receive()
        CH-->>MAIN: newer reading
    end
    
    MAIN->>DISP: show_imu(reading)<br/>[try_send]
    
    Note over MAIN: Every 3 seconds
    alt Time >= 3s since last
        MAIN->>MAIN: Format JSON payload
        MAIN->>LATEST: mqtt_set_imu()<br/>[try_lock]
        
        alt Mutex available
            LATEST-->>MAIN: Stored
        else Mutex locked
            LATEST--xMAIN: Skip
        end
    end
    
    Note over MQTT: Continuous loop
    MQTT->>LATEST: try_lock()
    
    alt Data available
        LATEST-->>MQTT: payload
        MQTT->>MQTT: send_message("esp32/imu")
    else No data
        LATEST--xMQTT: None
    end