try to fix submodule

firmware/lib/Arduino-FOC-drivers/src/encoders/as5047/AS5047.h

@@ -0,0 +1,167 @@
+/*
+ * AS5047.h
+ *
+ *  Created on: 2 May 2021
+ *      Author: runger
+ */
+
+#ifndef AS5047_H_
+#define AS5047_H_
+
+#include "Arduino.h"
+#include "SPI.h"
+
+
+
+
+union AS5047Diagnostics {
+	struct {
+		uint16_t agc:8;
+		uint16_t lf:1;
+		uint16_t cof:1;
+		uint16_t magh:1;
+		uint16_t magl:1;
+		uint16_t unused:4;
+	};
+	uint16_t reg;
+};
+
+
+union AS5047ZPosM {
+	struct {
+		uint16_t zposm:8;
+		uint16_t unused:8;
+	};
+	uint16_t reg;
+};
+
+
+union AS5047ZPosL {
+	struct {
+		uint16_t zposl:6;
+		uint16_t comp_l_error_en:1;
+		uint16_t comp_h_error_en:1;
+		uint16_t unused:8;
+	};
+	uint16_t reg;
+};
+
+
+union AS5047Settings1 {
+	struct {
+		uint16_t reserved:1;
+		uint16_t noiseset:1;
+		uint16_t dir:1;
+		uint16_t uvw_abi:1;
+		uint16_t daecdis:1;
+		uint16_t abibin:1;
+		uint16_t dataselect:1;
+		uint16_t pwmon:1;
+		uint16_t unused:8;
+	};
+	uint16_t reg;
+};
+
+
+union AS5047Settings2 {
+	struct {
+		uint16_t uvwpp:3;
+		uint16_t hys:2;
+		uint16_t abires:3;
+		uint16_t unused:8;
+	};
+	uint16_t reg;
+};
+
+
+struct AS5047Error {
+	bool framingError;
+	bool commandInvalid;
+	bool parityError;
+};
+
+
+enum AS5047ABIRes : uint8_t {
+	AS5047_ABI_1024 = 0b1010,
+	AS5047_ABI_2048 = 0b1001,
+	AS5047_ABI_4096 = 0b1000,
+	AS5047_ABI_100 = 0b0111,
+	AS5047_ABI_200 = 0b0110,
+	AS5047_ABI_400 = 0b0101,
+	AS5047_ABI_800 = 0b0100,
+	AS5047_ABI_1200 = 0b0011,
+	AS5047_ABI_1600 = 0b0010,
+	AS5047_ABI_2000 = 0b0001,
+	AS5047_ABI_4000 = 0b0000
+};
+
+
+#define AS5047_CPR 16384
+#define AS5047_ANGLECOM_REG 0x3FFF
+#define AS5047_ANGLEUNC_REG 0x3FFE
+#define AS5047_MAGNITUDE_REG 0x3FFD
+#define AS5047_DIAGNOSTICS_REG 0x3FFC
+#define AS5047_ERROR_REG 0x0001
+#define AS5047_PROG_REG 0x0003
+#define AS5047_ZPOSM_REG 0x0016
+#define AS5047_ZPOSL_REG 0x0017
+#define AS5047_SETTINGS1_REG 0x0018
+#define AS5047_SETTINGS2_REG 0x0019
+
+#define AS5047_PARITY 0x8000
+#define AS5047_RW 0x4000
+#define AS5047_ERRFLG 0x4000
+#define AS5047_RESULT_MASK 0x3FFF
+
+
+#define AS5047_BITORDER MSBFIRST
+
+static SPISettings AS5047SPISettings(8000000, AS5047_BITORDER, SPI_MODE1); // @suppress("Invalid arguments")
+
+
+class AS5047 {
+public:
+	AS5047(SPISettings settings = AS5047SPISettings, int nCS = -1);
+	virtual ~AS5047();
+
+	virtual void init(SPIClass* _spi = &SPI);
+
+	float getCurrentAngle(); // angle in radians, return current value
+	float getFastAngle();	 // angle in radians, return last value and read new
+
+	uint16_t readRawAngle(); // 14bit angle value
+	uint16_t readCorrectedAngle(); // 14bit corrected angle value
+	uint16_t readMagnitude(); // 14bit magnitude value
+
+	bool isErrorFlag();
+	AS5047Error clearErrorFlag();
+
+	AS5047Diagnostics readDiagnostics();
+	AS5047Settings1 readSettings1();
+	void writeSettings1(AS5047Settings1 settings);
+	AS5047Settings2 readSettings2();
+	void writeSettings2(AS5047Settings2 settings);
+	void enablePWM(bool enable);
+	void enableABI(bool enable);
+	void setABIResolution(AS5047ABIRes res);
+	void enableDEAC(bool enable);
+	void useCorrectedAngle(bool useCorrected);
+	void setHysteresis(uint8_t hyst);
+
+	uint16_t setZero(uint16_t);
+	uint16_t getZero();
+
+	uint16_t calcParity(uint16_t data);
+
+private:
+
+	uint16_t nop();
+	uint16_t spi_transfer16(uint16_t outdata);
+	SPIClass* spi;
+	SPISettings settings;
+	bool errorflag = false;
+	int nCS = -1;
+
+};
+
+#endif /* AS5047_H_ */