try to fix submodule

firmware/lib/Arduino-FOC/src/sensors/MagneticSensorSPI.cpp

@@ -0,0 +1,161 @@
+
+#include "MagneticSensorSPI.h"
+
+/** Typical configuration for the 14bit AMS AS5147 magnetic sensor over SPI interface */
+MagneticSensorSPIConfig_s AS5147_SPI = {
+  .spi_mode = SPI_MODE1,
+  .clock_speed = 1000000,
+  .bit_resolution = 14,
+  .angle_register = 0x3FFF,
+  .data_start_bit = 13,
+  .command_rw_bit = 14,
+  .command_parity_bit = 15
+};
+// AS5048 and AS5047 are the same as AS5147
+MagneticSensorSPIConfig_s AS5048_SPI = AS5147_SPI;
+MagneticSensorSPIConfig_s AS5047_SPI = AS5147_SPI;
+
+/** Typical configuration for the 14bit MonolithicPower MA730 magnetic sensor over SPI interface */
+MagneticSensorSPIConfig_s MA730_SPI = {
+  .spi_mode = SPI_MODE0,
+  .clock_speed = 1000000,
+  .bit_resolution = 14,
+  .angle_register = 0x0000,
+  .data_start_bit = 15,
+  .command_rw_bit = 0,  // not required
+  .command_parity_bit = 0 // parity not implemented
+};
+
+
+// MagneticSensorSPI(int cs, float _bit_resolution, int _angle_register)
+//  cs              - SPI chip select pin
+//  _bit_resolution   sensor resolution bit number
+// _angle_register  - (optional) angle read register - default 0x3FFF
+MagneticSensorSPI::MagneticSensorSPI(int cs, int _bit_resolution, int _angle_register){
+
+  chip_select_pin = cs;
+  // angle read register of the magnetic sensor
+  angle_register = _angle_register ? _angle_register : DEF_ANGLE_REGISTER;
+  // register maximum value (counts per revolution)
+  cpr = _powtwo(_bit_resolution);
+  spi_mode = SPI_MODE1;
+  clock_speed = 1000000;
+  bit_resolution = _bit_resolution;
+
+  command_parity_bit = 15; // for backwards compatibilty
+  command_rw_bit = 14; // for backwards compatibilty
+  data_start_bit = 13; // for backwards compatibilty
+}
+
+MagneticSensorSPI::MagneticSensorSPI(MagneticSensorSPIConfig_s config, int cs){
+  chip_select_pin = cs;
+  // angle read register of the magnetic sensor
+  angle_register = config.angle_register ? config.angle_register : DEF_ANGLE_REGISTER;
+  // register maximum value (counts per revolution)
+  cpr = _powtwo(config.bit_resolution);
+  spi_mode = config.spi_mode;
+  clock_speed = config.clock_speed;
+  bit_resolution = config.bit_resolution;
+
+  command_parity_bit = config.command_parity_bit; // for backwards compatibilty
+  command_rw_bit = config.command_rw_bit; // for backwards compatibilty
+  data_start_bit = config.data_start_bit; // for backwards compatibilty
+}
+
+void MagneticSensorSPI::init(SPIClass* _spi){
+  spi = _spi;
+	// 1MHz clock (AMS should be able to accept up to 10MHz)
+	settings = SPISettings(clock_speed, MSBFIRST, spi_mode);
+	//setup pins
+	pinMode(chip_select_pin, OUTPUT);
+	//SPI has an internal SPI-device counter, it is possible to call "begin()" from different devices
+	spi->begin();
+	// do any architectures need to set the clock divider for SPI? Why was this in the code?
+  //spi->setClockDivider(SPI_CLOCK_DIV8);
+	digitalWrite(chip_select_pin, HIGH);
+
+  this->Sensor::init(); // call base class init
+}
+
+//  Shaft angle calculation
+//  angle is in radians [rad]
+float MagneticSensorSPI::getSensorAngle(){
+  return (getRawCount() / (float)cpr) * _2PI;
+}
+
+// function reading the raw counter of the magnetic sensor
+int MagneticSensorSPI::getRawCount(){
+	return (int)MagneticSensorSPI::read(angle_register);
+}
+
+// SPI functions 
+/**
+ * Utility function used to calculate even parity of word
+ */
+byte MagneticSensorSPI::spiCalcEvenParity(word value){
+	byte cnt = 0;
+	byte i;
+
+	for (i = 0; i < 16; i++)
+	{
+		if (value & 0x1) cnt++;
+		value >>= 1;
+	}
+	return cnt & 0x1;
+}
+
+  /*
+  * Read a register from the sensor
+  * Takes the address of the register as a 16 bit word
+  * Returns the value of the register
+  */
+word MagneticSensorSPI::read(word angle_register){
+
+  word command = angle_register;
+
+  if (command_rw_bit > 0) {
+    command = angle_register | (1 << command_rw_bit);
+  }
+  if (command_parity_bit > 0) {
+   	//Add a parity bit on the the MSB
+  	command |= ((word)spiCalcEvenParity(command) << command_parity_bit);
+  }
+
+  //SPI - begin transaction
+  spi->beginTransaction(settings);
+
+  //Send the command
+  digitalWrite(chip_select_pin, LOW);
+  spi->transfer16(command);
+  digitalWrite(chip_select_pin,HIGH);
+  
+#if defined(ESP_H) && defined(ARDUINO_ARCH_ESP32) // if ESP32 board
+  delayMicroseconds(50); // why do we need to delay 50us on ESP32? In my experience no extra delays are needed, on any of the architectures I've tested...
+#else
+  delayMicroseconds(1); // delay 1us, the minimum time possible in plain arduino. 350ns is the required time for AMS sensors, 80ns for MA730, MA702
+#endif
+
+  //Now read the response
+  digitalWrite(chip_select_pin, LOW);
+  word register_value = spi->transfer16(0x00);
+  digitalWrite(chip_select_pin, HIGH);
+
+  //SPI - end transaction
+  spi->endTransaction();
+
+  register_value = register_value >> (1 + data_start_bit - bit_resolution);  //this should shift data to the rightmost bits of the word
+
+  const static word data_mask = 0xFFFF >> (16 - bit_resolution);
+
+	return register_value & data_mask;  // Return the data, stripping the non data (e.g parity) bits
+}
+
+/**
+ * Closes the SPI connection
+ * SPI has an internal SPI-device counter, for each init()-call the close() function must be called exactly 1 time
+ */
+void MagneticSensorSPI::close(){
+	spi->end();
+}
+
+