magnetic_encoder.h
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	#ifndef MAGNETIC_ENCODER_H_
	#define MAGNETIC_ENCODER_H_

	#include <sbcp-uc/gpio.h>

	struct magnetic_encoder;

	typedef struct magnetic_encoder magnetic_encoder;




	void init_magnetic_encoders(gpio spi_cs);

	/**
	* Swaps position of Q2 and Q3 in hardware flow,
	* if swapped is not zero. Otherwise keep their position.
	*/
	void magnetic_encoder_swap_2_and_3(int swapped);

	void magnetic_encoders_process();
	void magnetic_encoders_start_reading();

	void me_load_persistent_sbcp_settings();

	enum me_error_flags {
	ME_F_OK = 0 ,
	ME_F_LINEARITY_READ_ALARM = 1 << 0,
	ME_F_CORDIC_OVERFLOW = 1 << 1,
	ME_F_ONBOARD_PROCESSING_UNFINISHED = 1 << 2,
	ME_F_MAGNETIC_AMPLITUDE_ERROR = 1 << 3
	};

	typedef enum me_error_flags me_error_flags;


	void me_set_gear_ratio(magnetic_encoder * e, int mult, int div);


	int me_get_gear_mult(magnetic_encoder * e);
	int me_get_gear_div(magnetic_encoder * e);

	int me_get_value(magnetic_encoder * e);

	me_error_flags me_get_error(magnetic_encoder * e);

	extern magnetic_encoder * me1,* me2,* me3;


	#endif //MAGNETIC_ENCODER_H_