AS5600_PsW.h

#ifndef _AS5600_PsW_cbbca5380e886eb45660f9565d9e4d78f484a2d7d60682f313ec351bef31dbf4
#define _AS5600_PsW_cbbca5380e886eb45660f9565d9e4d78f484a2d7d60682f313ec351bef31dbf4

#include <Arduino.h>
#include "Wire.h"

#define _2PI 6.28318530718f
#define _powerTwo(x) (1 << (x))

class AS5600_PsW
	{
	public:
		void init();
		bool chechWireCondition(int);
		int rawAngle();
		float degreeAngle();
		int fullRotationUpdate();
		int comulativeRawAngle();
		double comulativeDegreeAngle();
		double comulativeRadianAngle();
		void changePowerMode(word);
		
		
		int fullRotation{ 0 };


		//sensor Configuration
		int sensorResolution{ 12 };



	private:

		word readWire(uint8_t);


		int numberOfLsbBits{ 8 };//LSB bits
		int wireCondition{ -1 };//0 to 5 are taken already
		int previousAngle{ 0 };
		int fullRotationRawCount = _powerTwo(sensorResolution) - 1;

		
		//Masks
		//static const uint8_t maskInverse0and1bits = (uint8_t)( ( (0x1 << 6) - 1 ) << 2);
		//static const uint8_t mask01 = 0b00000011;
		//static const uint8_t mask01 = 0b00000011;
		//static const uint8_t mask23 = 0b00001100;
		//static const uint8_t mask45 = 0b00110000;
		//static const uint8_t mask67 = 0b11000000;
		//static const uint8_t lsbMask = 0b00000000;
		//static const uint8_t msbMask = 0b00000000;
		

		//Registers
		static const uint8_t sensorI2CAddress{ 0x36 }; //Sensor Address
		static const uint8_t configRegister{ 0x07 }; //Config Register
		static const uint8_t rawAngleRegister{ 0x0C }; // raw angle
		static const uint8_t degreeAngleRegister{ 0x0E }; // scaled output value of raw angle

};



//struct I2CMagneticSensorConfiguration {
//	int sensorI2CAddress;
//	int configRegister;
//	int rawAngleRegister;
//	int angleRegister;
//};

//extern I2CMagneticSensorConfiguration AS5600;
#endif