try to fix submodule

firmware/lib/Arduino-FOC/src/sensors/Encoder.h

@@ -0,0 +1,91 @@
+#ifndef ENCODER_LIB_H
+#define ENCODER_LIB_H
+
+#include "Arduino.h"
+#include "../common/foc_utils.h"
+#include "../common/time_utils.h"
+#include "../common/base_classes/Sensor.h"
+
+
+/**
+ *  Quadrature mode configuration structure
+ */
+enum Quadrature : uint8_t {
+  ON    = 0x00, //!<  Enable quadrature mode CPR = 4xPPR
+  OFF   = 0x01  //!<  Disable quadrature mode / CPR = PPR
+};
+
+class Encoder: public Sensor{
+ public:
+    /**
+    Encoder class constructor
+    @param encA  encoder B pin
+    @param encB  encoder B pin
+    @param ppr  impulses per rotation  (cpr=ppr*4)
+    @param index index pin number (optional input)
+    */
+    Encoder(int encA, int encB , float ppr, int index = 0);
+
+    /** encoder initialise pins */
+    void init() override;
+    /**
+     *  function enabling hardware interrupts for the encoder channels with provided callback functions
+     *  if callback is not provided then the interrupt is not enabled
+     * 
+     * @param doA pointer to the A channel interrupt handler function
+     * @param doB pointer to the B channel interrupt handler function
+     * @param doIndex pointer to the Index channel interrupt handler function
+     * 
+     */
+    void enableInterrupts(void (*doA)() = nullptr, void(*doB)() = nullptr, void(*doIndex)() = nullptr);
+    
+    //  Encoder interrupt callback functions
+    /** A channel callback function */
+    void handleA();
+    /** B channel callback function */
+    void handleB();
+    /** Index channel callback function */
+    void handleIndex();
+    
+    
+    // pins A and B
+    int pinA; //!< encoder hardware pin A
+    int pinB; //!< encoder hardware pin B
+    int index_pin; //!< index pin
+
+    // Encoder configuration
+    Pullup pullup; //!< Configuration parameter internal or external pullups
+    Quadrature quadrature;//!< Configuration parameter enable or disable quadrature mode
+    float cpr;//!< encoder cpr number
+
+    // Abstract functions of the Sensor class implementation
+    /** get current angle (rad) */
+    float getSensorAngle() override;
+    /**  get current angular velocity (rad/s) */
+    float getVelocity() override;
+    virtual void update() override;
+
+    /**
+     * returns 0 if it does need search for absolute zero
+     * 0 - encoder without index 
+     * 1 - ecoder with index
+     */
+    int needsSearch() override;
+
+  private:
+    int hasIndex(); //!< function returning 1 if encoder has index pin and 0 if not.
+
+    volatile long pulse_counter;//!< current pulse counter
+    volatile long pulse_timestamp;//!< last impulse timestamp in us
+    volatile int A_active; //!< current active states of A channel
+    volatile int B_active; //!< current active states of B channel
+    volatile int I_active; //!< current active states of Index channel
+    volatile bool index_found = false; //!< flag stating that the index has been found
+
+    // velocity calculation variables
+    float prev_Th, pulse_per_second;
+    volatile long prev_pulse_counter, prev_timestamp_us;
+};
+
+
+#endif