try to fix submodule

firmware/lib/Arduino-FOC/src/drivers/hardware_api.h

@@ -0,0 +1,180 @@
+#ifndef HARDWARE_UTILS_DRIVER_H
+#define HARDWARE_UTILS_DRIVER_H
+
+#include "../common/foc_utils.h"
+#include "../common/time_utils.h"
+#include "../communication/SimpleFOCDebug.h"
+#include "../common/base_classes/BLDCDriver.h"
+
+
+// these defines determine the polarity of the PWM output. Normally, the polarity is active-high,
+// i.e. a high-level PWM output is expected to switch on the MOSFET. But should your driver design
+// require inverted polarity, you can change the defines below, or set them via your build environment
+// or board definition files.
+
+// used for 1-PWM, 2-PWM, 3-PWM, and 4-PWM modes
+#ifndef SIMPLEFOC_PWM_ACTIVE_HIGH
+#define SIMPLEFOC_PWM_ACTIVE_HIGH true
+#endif
+// used for 6-PWM mode, high-side
+#ifndef SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH
+#define SIMPLEFOC_PWM_HIGHSIDE_ACTIVE_HIGH true
+#endif
+// used for 6-PWM mode, low-side
+#ifndef SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH
+#define SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH true
+#endif
+
+
+
+
+// flag returned if driver init fails
+#define SIMPLEFOC_DRIVER_INIT_FAILED ((void*)-1)
+
+// generic implementation of the hardware specific structure
+// containing all the necessary driver parameters
+// will be returned as a void pointer from the _configurexPWM functions
+// will be provided to the _writeDutyCyclexPWM() as a void pointer
+typedef struct GenericDriverParams {
+  int pins[6];
+  long pwm_frequency;
+  float dead_zone;
+} GenericDriverParams;
+
+
+/** 
+ * Configuring PWM frequency, resolution and alignment
+ * - Stepper driver - 2PWM setting
+ * - hardware specific
+ * 
+ * @param pwm_frequency - frequency in hertz - if applicable
+ * @param pinA pinA pwm pin
+ * 
+ * @return -1 if failed, or pointer to internal driver parameters struct if successful
+ */
+void* _configure1PWM(long pwm_frequency, const int pinA);
+
+/** 
+ * Configuring PWM frequency, resolution and alignment
+ * - Stepper driver - 2PWM setting
+ * - hardware specific
+ * 
+ * @param pwm_frequency - frequency in hertz - if applicable
+ * @param pinA pinA bldc driver
+ * @param pinB pinB bldc driver
+ * 
+ * @return -1 if failed, or pointer to internal driver parameters struct if successful
+ */
+void* _configure2PWM(long pwm_frequency, const int pinA, const int pinB);
+
+/** 
+ * Configuring PWM frequency, resolution and alignment
+ * - BLDC driver - 3PWM setting
+ * - hardware specific
+ * 
+ * @param pwm_frequency - frequency in hertz - if applicable
+ * @param pinA pinA bldc driver
+ * @param pinB pinB bldc driver
+ * @param pinC pinC bldc driver
+ * 
+ * @return -1 if failed, or pointer to internal driver parameters struct if successful
+ */
+void* _configure3PWM(long pwm_frequency, const int pinA, const int pinB, const int pinC);
+
+/** 
+ * Configuring PWM frequency, resolution and alignment
+ * - Stepper driver - 4PWM setting
+ * - hardware specific
+ * 
+ * @param pwm_frequency - frequency in hertz - if applicable
+ * @param pin1A pin1A stepper driver
+ * @param pin1B pin1B stepper driver
+ * @param pin2A pin2A stepper driver
+ * @param pin2B pin2B stepper driver
+ * 
+ * @return -1 if failed, or pointer to internal driver parameters struct if successful
+ */
+void* _configure4PWM(long pwm_frequency, const int pin1A, const int pin1B, const int pin2A, const int pin2B);
+
+/** 
+ * Configuring PWM frequency, resolution and alignment
+ * - BLDC driver - 6PWM setting
+ * - hardware specific
+ * 
+ * @param pwm_frequency - frequency in hertz - if applicable
+ * @param dead_zone  duty cycle protection zone [0, 1] - both low and high side low - if applicable
+ * @param pinA_h pinA high-side bldc driver 
+ * @param pinA_l pinA low-side bldc driver 
+ * @param pinB_h pinA high-side bldc driver 
+ * @param pinB_l pinA low-side bldc driver 
+ * @param pinC_h pinA high-side bldc driver 
+ * @param pinC_l pinA low-side bldc driver 
+ * 
+ * @return -1 if failed, or pointer to internal driver parameters struct if successful
+ */
+void* _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, const int pinA_l,  const int pinB_h, const int pinB_l, const int pinC_h, const int pinC_l);
+
+/** 
+ * Function setting the duty cycle to the pwm pin (ex. analogWrite())
+ * - Stepper driver - 2PWM setting
+ * - hardware specific
+ * 
+ * @param dc_a  duty cycle phase A [0, 1]
+ * @param dc_b  duty cycle phase B [0, 1]
+ * @param params  the driver parameters
+ */ 
+void _writeDutyCycle1PWM(float dc_a, void* params);
+
+/** 
+ * Function setting the duty cycle to the pwm pin (ex. analogWrite())
+ * - Stepper driver - 2PWM setting
+ * - hardware specific
+ * 
+ * @param dc_a  duty cycle phase A [0, 1]
+ * @param dc_b  duty cycle phase B [0, 1]
+ * @param params  the driver parameters
+ */ 
+void _writeDutyCycle2PWM(float dc_a,  float dc_b, void* params);
+
+/** 
+ * Function setting the duty cycle to the pwm pin (ex. analogWrite())
+ * - BLDC driver - 3PWM setting
+ * - hardware specific
+ * 
+ * @param dc_a  duty cycle phase A [0, 1]
+ * @param dc_b  duty cycle phase B [0, 1]
+ * @param dc_c  duty cycle phase C [0, 1]
+ * @param params  the driver parameters
+ */ 
+void _writeDutyCycle3PWM(float dc_a,  float dc_b, float dc_c, void* params);
+
+/** 
+ * Function setting the duty cycle to the pwm pin (ex. analogWrite())
+ * - Stepper driver - 4PWM setting
+ * - hardware specific
+ * 
+ * @param dc_1a  duty cycle phase 1A [0, 1]
+ * @param dc_1b  duty cycle phase 1B [0, 1]
+ * @param dc_2a  duty cycle phase 2A [0, 1]
+ * @param dc_2b  duty cycle phase 2B [0, 1]
+ * @param params  the driver parameters
+ */ 
+void _writeDutyCycle4PWM(float dc_1a,  float dc_1b, float dc_2a, float dc_2b, void* params);
+
+
+/** 
+ * Function setting the duty cycle to the pwm pin (ex. analogWrite())
+ * - BLDC driver - 6PWM setting
+ * - hardware specific
+ * 
+ * @param dc_a  duty cycle phase A [0, 1]
+ * @param dc_b  duty cycle phase B [0, 1]
+ * @param dc_c  duty cycle phase C [0, 1]
+ * @param phase_state  pointer to PhaseState[3] array
+ * @param params  the driver parameters
+ * 
+ */ 
+void _writeDutyCycle6PWM(float dc_a,  float dc_b, float dc_c, PhaseState *phase_state, void* params);
+
+
+#endif