#ifndef LOWSIDE_CS_LIB_H
#define LOWSIDE_CS_LIB_H

#include "Arduino.h"
#include "../common/foc_utils.h"
#include "../common/time_utils.h"
#include "../common/defaults.h"
#include "../common/base_classes/CurrentSense.h"
#include "../common/base_classes/FOCMotor.h"
#include "../common/base_classes/StepperDriver.h"
#include "../common/base_classes/BLDCDriver.h"
#include "../common/lowpass_filter.h"
#include "hardware_api.h"


class LowsideCurrentSense: public CurrentSense{
  public:
    /**
      LowsideCurrentSense class constructor
      @param shunt_resistor shunt resistor value
      @param gain current-sense op-amp gain
      @param phA A phase adc pin
      @param phB B phase adc pin
      @param phC C phase adc pin (optional)
    */
    LowsideCurrentSense(float shunt_resistor, float gain, int pinA, int pinB, int pinC = _NC);
    /**
      LowsideCurrentSense class constructor
      @param mVpA mV per Amp ratio
      @param phA A phase adc pin
      @param phB B phase adc pin
      @param phC C phase adc pin (optional)
    */
    LowsideCurrentSense(float mVpA, int pinA, int pinB, int pinC = _NC);

    // CurrentSense interface implementing functions
    int init() override;
    PhaseCurrent_s getPhaseCurrents() override;

  private:

    // gain variables
    float shunt_resistor; //!< Shunt resistor value
    float amp_gain; //!< amp gain value
    float volts_to_amps_ratio; //!< Volts to amps ratio

    /**
     *  Function finding zero offsets of the ADC
     */
    void calibrateOffsets();

};

#endif