MagneticSensorI2C.h

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#ifndef MAGNETICSENSORI2C_LIB_H
#define MAGNETICSENSORI2C_LIB_H
 
#include "Arduino.h"
#include <Wire.h>
#include "../common/base_classes/Sensor.h"
#include "../common/foc_utils.h"
#include "../common/time_utils.h"
 
struct MagneticSensorI2CConfig_s  {
  int chip_address;
  int bit_resolution;
  int angle_register;
  int data_start_bit; 
};
// some predefined structures
extern MagneticSensorI2CConfig_s AS5600_I2C,AS5048_I2C;
 
class MagneticSensorI2C: public Sensor{
 public:
    MagneticSensorI2C(uint8_t _chip_address, int _bit_resolution, uint8_t _angle_register_msb, int _msb_bits_used);
 
    MagneticSensorI2C(MagneticSensorI2CConfig_s config);
 
    static MagneticSensorI2C AS5600();
        
    void init(TwoWire* _wire = &Wire);
 
    // implementation of abstract functions of the Sensor class
    float getAngle() override;
    float getVelocity() override;
 
    int checkBus(byte sda_pin = SDA, byte scl_pin = SCL);
 
  private:
    float cpr; 
    uint16_t lsb_used; 
    uint8_t lsb_mask;
    uint8_t msb_mask;
    
    // I2C variables
    uint8_t angle_register_msb; 
    uint8_t chip_address; 
 
    // I2C functions
    int read(uint8_t angle_register_msb);
 
    int getRawCount();
 
    // total angle tracking variables
    float full_rotation_offset; 
    float angle_data_prev; 
 
    // velocity calculation variables
    float angle_prev; 
    long velocity_calc_timestamp; 
 
    /* the two wire instance for this sensor */
    TwoWire* wire;
 
 
};
 
 
#endif