try to fix submodule

firmware/lib/Arduino-FOC-drivers/src/comms/stm32speeddir/README.md

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+
+# STM32SpeedDirInput
+
+Control SimpleFOC using PWM speed and direction inputs.
+
+Based on STM32 timer PWM-Input capabilities, which means this can only be used on STM32 MCUs. It can cover a wide range of PWM frequencies, and runs without MCU overhead in the timer hardware.
+
+
+
+## Setup
+
+The PWM speed input should be connected to either channel 1 or channel 2 of a general purpose or advanced control timer on your STM32 MCU. Suitable timers are:
+- Advanced control timers: TIM1, TIM8
+- General purpose timers (32 bit): TIM2, TIM5
+- General purpose timers (16 bit): TIM3, TIM4, TIM9, TIM12
+If in doubt, check in STM32CubeIDE and see if the PWM-Input mode can be enabled (under "Combined Channels") for the timer.
+
+The optional direction input can be connected to any GPIO pin. By default a high level direction input is associated with a positive velocity value, while a low level direction input results in a negative velocity value. To reverse this, set the option `dir_positive_high = false`
+
+The direction input is optional - if not provided, you can control the direction from software using the `direction` field.
+
+The velocity values returned are in the range `min_speed` to `max_speed`, while the input PWM duty cycle should lie within the range `min_pwm` to `max_pwm`. Actual input values smaller than `min_pwm` will be treated as `min_pwm`, values larger than `max_pwm` will be treated as `max_pwm`. The behaviour for 100% or 0% duty cycles is undefined, and they should be avoided.
+
+## Usage
+
+Use it like this:
+
+```c++
+#include "comms/stm32speeddir/STM32SpeedDirInput.h"
+
+// some example pins - the speed pin has to be on channel 1 or 2 of a timer
+#define PIN_SPEED PC6
+#define PIN_DIRECTION PB8
+
+STM32SpeedDirInput speed_dir = STM32SpeedDirInput(PIN_SPEED, PIN_DIRECTION);
+
+float target = 0.0f;
+
+void setup(){
+    ...
+
+    speed_dir.min_speed = 10.0f;    // 10rad/s min speed
+    speed_dir.max_speed = 100.0f;   // 100rad/s max speed
+    speed_dir.min_pwm = 5.0f;       // 5% min duty cycle
+    speed_dir.max_pwm = 95.0f;      // 95% max duty cycle
+    speed_dir.init();
+
+    ...
+}
+
+
+void loop(){
+    target = speed_dir.getTargetVelocity();
+    motor.move(target);
+    motor.loopFOC();
+}
+
+```

firmware/lib/Arduino-FOC-drivers/src/comms/stm32speeddir/STM32SpeedDirInput.cpp

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+
+#include "./STM32SpeedDirInput.h"
+
+#if defined(_STM32_DEF_)
+
+STM32SpeedDirInput::STM32SpeedDirInput(int pin_speed, int pin_dir) : STM32PWMInput(pin_speed) {
+    _pin_speed = pin_speed;
+    _pin_dir = pin_dir;
+};
+
+STM32SpeedDirInput::~STM32SpeedDirInput(){};
+
+int STM32SpeedDirInput::init(){
+    pinMode(_pin_dir, INPUT);
+    return STM32PWMInput::initialize();
+};
+
+
+float STM32SpeedDirInput::getTargetVelocity(){
+    if (_pin_dir != NOT_SET)
+        direction = digitalRead(_pin_dir);
+    float speed = getDutyCyclePercent();
+    speed = constrain(speed, min_pwm, max_pwm);
+    speed = (speed - min_pwm)/(max_pwm - min_pwm) * (max_speed - min_speed) + min_speed;
+    return (direction == dir_positive_high) ? speed : -speed;
+};
+
+
+#endif

firmware/lib/Arduino-FOC-drivers/src/comms/stm32speeddir/STM32SpeedDirInput.h

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+
+#pragma once
+
+#include "Arduino.h"
+
+#if defined(_STM32_DEF_)
+
+#include "common/foc_utils.h"
+#include "utilities/stm32pwm/STM32PWMInput.h"
+
+class STM32SpeedDirInput : public STM32PWMInput {
+    public:
+        STM32SpeedDirInput(int pin_speed, int pin_dir = NOT_SET);
+        ~STM32SpeedDirInput();
+
+        int init();
+        float getTargetVelocity();
+
+        float min_speed = 0;            // min speed in rad/s
+        float max_speed = 100;          // max speed in rad/s
+        float min_pwm = 5.0;            // min duty cycle in %
+        float max_pwm = 95.0;           // max duty cycle in %
+        bool dir_positive_high = true;  // true if the direction pin is high when the motor is spinning in the positive direction
+        bool direction = true;          // direction of rotation, default positive
+    protected:
+        int _pin_speed;
+        int _pin_dir;
+};
+
+
+#endif