#pragma once
#include "config.h"
#include "LSM6DS3.h"

extern LSM6DS3 imu;

// Roll-compensation rotation matrix coefficients (computed in calibrateGyroBias).
// Rotate device-frame [gz, gy] → world-frame [screenX, screenY].
extern float rollSin;  // sin of device yaw on table
extern float rollCos;  // cos of device yaw on table

void imuWriteReg(uint8_t reg, uint8_t val);
uint8_t imuReadReg(uint8_t reg);
float readIMUTemp();
void calibrateGyroBias();
float applyCurve(float v);
float applyAcceleration(float d);