a magnetic sensing device, the magnetic sensing device at least comprising a magnetic multi-turn sensor, wherein the magnetic multi-turn sensor comprises a plurality of magnetoresistive sensing elements;

a magnet mounted on a rotatable shaft, the magnet being positioned a first distance from the magnetic sensing device such that the magnetic multi-turn sensor is operable to measure a number of turns of a magnetic field generated by the magnet; and

an initialization mechanism configured to move the magnet and the rotatable shaft in an axial direction towards the magnetic sensing device, without requiring rotation of the rotatable shaft, such that when the magnet is at a second distance from the magnetic sensing device, domain walls are generated in the plurality of magnetoresistive elements by the magnet field generated by the magnet.