try to fix submodule

firmware/lib/Arduino-FOC-drivers/src/encoders/as5048a/AS5048A.h

@@ -0,0 +1,89 @@
+/*
+ * AS5048A.h
+ *
+ *  Created on: 8 Mar 2021
+ *      Author: runger
+ */
+
+#ifndef AS5048A_H_
+#define AS5048A_H_
+
+#include "Arduino.h"
+#include "SPI.h"
+
+
+
+
+union AS5048Diagnostics {
+	struct {
+		uint16_t agc:8;
+		uint16_t ocf:1;
+		uint16_t cof:1;
+		uint16_t compLow:1;
+		uint16_t compHigh:1;
+	};
+	uint16_t reg;
+};
+
+
+struct AS5048Error {
+	bool parityError;
+	bool commandInvalid;
+	bool framingError;
+};
+
+
+#define AS5048A_CPR 16384
+#define AS5048A_ANGLE_REG 0x3FFF
+#define AS5048A_ERROR_REG 0x0001
+#define AS5048A_PROGCTL_REG 0x0003
+#define AS5048A_OTPHIGH_REG 0x0016
+#define AS5048A_OTPLOW_REG 0x0017
+#define AS5048A_DIAGNOSTICS_REG 0x3FFD
+#define AS5048A_MAGNITUDE_REG 0x3FFE
+#define AS5048A_PARITY 0x8000
+#define AS5048A_RW 0x4000
+#define AS5048A_ERRFLG 0x4000
+#define AS5048A_RESULT_MASK 0x3FFF
+
+
+#define AS5048_BITORDER MSBFIRST
+
+
+static SPISettings AS5048SPISettings(8000000, AS5048_BITORDER, SPI_MODE1); // @suppress("Invalid arguments")
+
+
+class AS5048A {
+public:
+	AS5048A(SPISettings settings = AS5048SPISettings, int nCS = -1);
+	virtual ~AS5048A();
+
+	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 readMagnitude(); // 14bit magnitude value
+
+	bool isErrorFlag();
+	AS5048Error clearErrorFlag();
+
+	AS5048Diagnostics readDiagnostics();
+
+	uint16_t setZero(uint16_t);
+	uint16_t enableOneTimeProgramming();
+	uint16_t programZero();
+
+private:
+
+	uint16_t nop();
+	uint16_t spi_transfer16(uint16_t outdata);
+	SPIClass* spi;
+	SPISettings settings;
+	bool errorflag = false;
+	int nCS = -1;
+
+};
+
+#endif /* AS5048A_H_ */