try to fix submodule

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

@@ -0,0 +1,98 @@
+#ifndef HALL_SENSOR_LIB_H
+#define HALL_SENSOR_LIB_H
+
+#include "Arduino.h"
+#include "../common/base_classes/Sensor.h"
+#include "../common/foc_utils.h"
+#include "../common/time_utils.h"
+
+// seq 1 > 5 > 4 > 6 > 2 > 3 > 1     000 001 010 011 100 101 110 111
+const int8_t ELECTRIC_SECTORS[8] = { -1,  0,  4,  5,  2,  1,  3 , -1 };
+
+class HallSensor: public Sensor{
+ public:
+    /**
+    HallSensor class constructor
+    @param encA  HallSensor A pin
+    @param encB  HallSensor B pin
+    @param encC  HallSensor C pin
+    @param pp  pole pairs  (e.g hoverboard motor has 15pp and small gimbals often have 7pp)
+    @param index index pin number (optional input)
+    */
+    HallSensor(int encA, int encB, int encC, int pp);
+
+    /** HallSensor initialise pins */
+    void init();
+    /**
+     *  function enabling hardware interrupts for the HallSensor 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(*doC)() = nullptr);
+    
+    //  HallSensor interrupt callback functions
+    /** A channel callback function */
+    void handleA();
+    /** B channel callback function */
+    void handleB();
+    /** C channel callback function */
+    void handleC();
+    
+    
+    // pins A and B
+    int pinA; //!< HallSensor hardware pin A
+    int pinB; //!< HallSensor hardware pin B
+    int pinC; //!< HallSensor hardware pin C
+
+    // HallSensor configuration
+    Pullup pullup; //!< Configuration parameter internal or external pullups
+    int cpr;//!< HallSensor cpr number
+
+    // Abstract functions of the Sensor class implementation
+    /** Interrupt-safe update */
+    void update() override;
+    /** get current angle (rad) */
+    float getSensorAngle() override;
+    /**  get current angular velocity (rad/s) */
+    float getVelocity() override;
+
+    // whether last step was CW (+1) or CCW (-1).  
+    Direction direction;
+
+    void attachSectorCallback(void (*onSectorChange)(int a) = nullptr);
+
+    // the current 3bit state of the hall sensors
+    volatile int8_t hall_state;
+    // the current sector of the sensor. Each sector is 60deg electrical
+    volatile int8_t electric_sector;
+    // the number of electric rotations
+    volatile long electric_rotations;
+    // this is sometimes useful to identify interrupt issues (e.g. weak or no pullup resulting in 1000s of interrupts)
+    volatile long total_interrupts; 
+
+    // variable used to filter outliers - rad/s
+    float velocity_max = 1000.0f;
+
+  private:
+    
+    Direction decodeDirection(int oldState, int newState);
+    void updateState();
+
+    volatile unsigned 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 C_active; //!< current active states of C channel
+
+    // function pointer for on sector change call back
+    void (*onSectorChange)(int sector) = nullptr;
+
+    volatile long pulse_diff;
+    
+};
+
+
+#endif