const int CLK_PIN = 2;
const int CLK_NEG_PIN = 3;
const int DATA_PIN = 4;
const int DATA_NEG_PIN = 5;


const int singleturn_bits = 22; // We use the acuro AD35 22-bit single-turn encoder.
const int multiturn_bits = 0; // We are not using a multiturn encoder
const int clockfreq = 9*(pow(10, 6)); // the max clock frequency for 13 or higher bit encoders is 9,1 MHz.
const float cycle_time = 250*pow(10, -6); // the max cycle time is 250 ms 
const float wait_time = 45*pow(10, -6); // The wait time for the intialization of the first BiSS frame and Timeout period.
const int generator_pol = 1000011;



uint32_t single_turn_value;
bool error_flag;
bool warning_flag;
uint8_t crc_value;

bool ack_received = false;
bool data_ready = false;
bool receiving_data = false;
bool data_timeout = false;



void setup() {
  // Initialize serial communication for debugging
  Serial.begin(115200);
  
  // Configure pins for input
  pinMode(CLK_PIN, INPUT);
  pinMode(CLK_NEG_PIN, INPUT);
  pinMode(DATA_PIN, INPUT);
  pinMode(DATA_NEG_PIN, INPUT);  

  int data_bit = 0b1101000;  // binary for 104
  int generator_pol = 0b1000011;  // binary for 67

  char* result = XOR(data_bit, generator_pol);
  Serial.println("The result of the XOR function is: ");
  Serial.println(result);
  Serial.println("End");

}

void loop() {
  // put your main code here, to run repeatedly:

}

// Add libraries for serial communication if necessary (e.g., RS-485 driver)
void initializeBiSSCommunication() {
    
}

void sendBiSSCommand() {
    // Code to send data frames (including timing of MA+/- clock signals)
    // Encode appropriate start bits and other data structures as per BiSS
}

void readBiSSResponse() {
    // Code to read data response from the BiSS encoder
    // Handle SLO+/SLO- and check CRC to verify data integrity
}

char* XOR(int data_bit, int generator_pol) {
  static char result[7];  // Static array to store result, assuming 7 bits

  // Loop through each bit of the data_bit and generator_pol
  for (int i = 0; i < 7; i++) {
      // Extract bits from data_bit and generator_pol
      int bit_data = (data_bit >> (6 - i)) & 1;
      int bit_gen = (generator_pol >> (6 - i)) & 1;
      
      // Perform XOR on the bits and store the result as a char
      result[i] = (bit_data ^ bit_gen) + '0';  // Convert 0/1 to '0'/'1'
  }

  result[7] = '\0';  // Null-terminate the string

  return result;
}


void calculateCRCPolynomial() {

}