Arduino additions

arduino/main/imu.h

@@ -28,4 +28,23 @@ const ImuData& imu_get_data();
 // Check if IMU data is fresh (updated within timeout_ms)
 bool imu_is_fresh(unsigned long timeout_ms = 200);
 
+// Calibrate IMU - blocks for ~250ms while sampling
+// Sets current orientation as zero reference
+// Note: Zeroes all axes including accel (loses gravity reference)
+//       Revisit once mounting orientation is finalized
+void imu_calibrate();
+
+// Check if calibration has been performed
+bool imu_is_calibrated();
+
+// Send command to IMU (see IMU.md for command list)
+// Common commands: 0x52 = zero yaw, 0x67 = calibrate accel
+void imu_send_cmd(uint8_t cmd);
+
+// Convenience: zero the yaw angle
+inline void imu_zero_yaw() { imu_send_cmd(0x52); }
+
+// Convenience: calibrate accelerometer (keep module level!)
+inline void imu_calibrate_accel() { imu_send_cmd(0x67); }
+
 #endif