main.h

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#pragma once
 
#include <STAR_ISM330DH.h>
 
#include <cstdint>
 
// SPI bus pins (per board schematic)
#define ISM330_SCLK_PIN 2
#define ISM330_MOSI_PIN 3
#define ISM330_MISO_PIN 16
#define ISM330_CS_PIN 20
 
// IMU interrupt pins
#define ISM330_INT1_PIN 21
#define ISM330_INT2_PIN 22
 
// SPI clock for the IMU (datasheet allows up to 10 MHz)
#define ISM330_SPI_HZ 3000000
 
// Accelerometer full scale — keep ISM330_ACCEL_FS_G in sync for wake-up math
#define ISM330_ACCEL_FS ISM_16g
#define ISM330_ACCEL_FS_G 16.0f
 
// Wake-up threshold in g (similar role to LIS3DH INTERRUPT_THRESHOLD_G)
#define ISM330_WAKEUP_THRESHOLD_G 2.5f
 
// Wake duration field 0–3 (1 LSB = 1 / ODR)
#define ISM330_WAKEUP_DUR 2
 
// If true, XL/GYRO data-ready also pulse INT1 (very chatty at high ODR)
#define ISM330_ROUTE_DRDY_TO_INT1 false
 
// ST driver: wake LSB weight FS/64 → mg per threshold step
static constexpr uint8_t ISM330_WKUP_THS = []() -> uint8_t {
    constexpr float mgPerLsb = (ISM330_ACCEL_FS_G * 1000.0f) / 64.0f;
    float raw = (ISM330_WAKEUP_THRESHOLD_G * 1000.0f) / mgPerLsb;
    uint8_t v = (raw > 63.0f) ? 63 : static_cast<uint8_t>(raw);
    return (v < 1) ? 1 : v;
}();