sensord: use interrupts to improve LSM6DS3 timing accuracy (#24525)

* change LSM6DS3TR(-c) gyroscope  and accelerometer to interrupt

* add pthread for linking

* add interrupt collector thread to fetch in parallel to non interrupt based sensors

* change get_event interface to return true on successful read

* fetch sensor interrupts via gpiochip

* avoid sending empty messages (interrupt only, non interupt magn can leave a gap in the orphan block)

* add verifier script to sensor interrupts (sensor_data_to_hist.py)

* add/update sensord testsweet (test_sensord.py)

* add poll timed out check

* unexport interrupt gpio pins

* gpiochip on both edges, but skip falling edge if rising edge is detected, this is handled in the sensor as the status flag is checked if new data is availble

* add test to sensord to verify 100Hz interrupt frequency

* add sensor shutdown/low power mode functionality on sensord exit

* relax test, will be readded in the splitup PR

Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com>

selfdrive/sensord/SConscript

@@ -13,7 +13,7 @@ sensors = [
   'sensors/lsm6ds3_temp.cc',
   'sensors/mmc5603nj_magn.cc',
 ]
-libs = [common, cereal, messaging, 'capnp', 'zmq', 'kj']
+libs = [common, cereal, messaging, 'capnp', 'zmq', 'kj', 'pthread']
 if arch == "larch64":
   libs.append('i2c')
 env.Program('_sensord', ['sensors_qcom2.cc'] + sensors, LIBS=libs)