try to fix submodule

firmware/lib/Arduino-FOC-drivers/src/encoders/a1334/A1334.cpp

@@ -0,0 +1,54 @@
+
+#include "./A1334.h"
+
+
+
+A1334::A1334(SPISettings settings, int nCS) : settings(settings), nCS(nCS) {
+	// nix
+};
+
+
+
+A1334::~A1334() {
+};
+
+
+
+
+void A1334::init(SPIClass* _spi) {
+	spi = _spi;
+	if (nCS>=0)
+		pinMode(nCS, OUTPUT);
+	digitalWrite(nCS, HIGH);
+	//SPI has an internal SPI-device counter, it is possible to call "begin()" from different devices
+	spi->begin();
+	readRawAngle(); // read an angle
+};
+
+
+
+
+A1334Angle A1334::readRawAngle() {
+	uint16_t command = A1334_REG_ANG;
+	uint16_t cmdResult = spi_transfer16(command);	// TODO fast mode
+	cmdResult = spi_transfer16(command);	
+	A1334Angle result = { .reg = cmdResult };
+	// TODO check parity
+	// errorflag = result.ef;
+	return result;
+};
+
+
+
+
+uint16_t A1334::spi_transfer16(uint16_t outdata) {
+	if (nCS>=0)
+		digitalWrite(nCS, 0);
+	spi->beginTransaction(settings);
+	uint16_t result = spi->transfer16(outdata);
+	spi->endTransaction();
+	if (nCS>=0)
+		digitalWrite(nCS, 1);
+	return result;
+};
+

firmware/lib/Arduino-FOC-drivers/src/encoders/a1334/A1334.h

@@ -0,0 +1,51 @@
+
+
+#ifndef __A1334_H__
+#define __A1334_H__
+
+#include <Arduino.h>
+#include <SPI.h>
+
+
+#define A1334_CPR 4096
+#define A1334_BITORDER MSBFIRST
+
+static SPISettings A1334SPISettings(8000000, A1334_BITORDER, SPI_MODE3); // @suppress("Invalid arguments")
+
+
+typedef union {
+	struct {
+		uint16_t angle:12;
+		uint16_t p:1;
+		uint16_t nf:1;
+		uint16_t ef:1;
+		uint16_t ridc:1;
+	};
+	uint16_t reg;
+} A1334Angle;
+
+
+#define A1334_REG_ANG 0x2000
+
+
+
+
+class A1334 {
+public:
+	A1334(SPISettings settings = A1334SPISettings, int nCS = -1);
+	virtual ~A1334();
+
+	virtual void init(SPIClass* _spi = &SPI);
+	A1334Angle readRawAngle(); // 10 or 12 bit angle value    
+protected:
+	uint16_t spi_transfer16(uint16_t outdata);
+	SPIClass* spi;
+	SPISettings settings;
+	int nCS = -1;
+};
+
+
+
+
+
+#endif

firmware/lib/Arduino-FOC-drivers/src/encoders/a1334/MagneticSensorA1334.cpp

@@ -0,0 +1,27 @@
+
+#include "./MagneticSensorA1334.h"
+#include "common/foc_utils.h"
+#include "common/time_utils.h"
+
+MagneticSensorA1334::MagneticSensorA1334(int nCS, SPISettings settings) : A1334(settings, nCS) {
+
+}
+
+
+MagneticSensorA1334::~MagneticSensorA1334(){ 
+
+}
+
+
+void MagneticSensorA1334::init(SPIClass* _spi) {
+    this->A1334::init(_spi);
+    this->Sensor::init();
+}
+
+
+float MagneticSensorA1334::getSensorAngle() {
+    A1334Angle angle_data = readRawAngle();
+    float result = ( angle_data.angle / (float)A1334_CPR) * _2PI;
+    // return the shaft angle
+    return result;
+}

firmware/lib/Arduino-FOC-drivers/src/encoders/a1334/MagneticSensorA1334.h

@@ -0,0 +1,24 @@
+
+#ifndef __MAGNETIC_SENSOR_A1334_H__
+#define __MAGNETIC_SENSOR_A1334_H__
+
+#include "common/base_classes/Sensor.h"
+#include "./A1334.h"
+
+
+
+class MagneticSensorA1334 : public Sensor, public A1334 {
+public:
+	MagneticSensorA1334(int nCS = -1, SPISettings settings = A1334SPISettings);
+	virtual ~MagneticSensorA1334();
+
+    virtual float getSensorAngle() override;
+
+	virtual void init(SPIClass* _spi = &SPI);
+private:
+};
+
+
+
+
+#endif