try to fix submodule

firmware/lib/Arduino-FOC-drivers/src/encoders/as5048a/PreciseMagneticSensorAS5048A.cpp

@@ -0,0 +1,50 @@
+/*
+ * PreciseMagneticSensorAS5048A.cpp
+ *
+ *  Created on: 1 May 2021
+ *      Author: runger
+ */
+
+#include <encoders/as5048a/PreciseMagneticSensorAS5048A.h>
+#include "common/foc_utils.h"
+#include "common/time_utils.h"
+
+PreciseMagneticSensorAS5048A::PreciseMagneticSensorAS5048A(int nCS, bool fastMode, SPISettings settings) : AS5048A(settings, nCS), fastMode(fastMode) { }
+
+PreciseMagneticSensorAS5048A::~PreciseMagneticSensorAS5048A() { }
+
+
+void PreciseMagneticSensorAS5048A::init(SPIClass* _spi) {
+    this->AS5048A::init(_spi);
+	// velocity calculation init
+    current_ts = _micros();
+    /*uint16_t angle_data =*/ readRawAngle();
+    current_angle = PreciseAngle(readRawAngle(), 0);
+    getAngle();
+}
+
+
+
+float PreciseMagneticSensorAS5048A::getSensorAngle() {
+    previous_ts = current_ts;
+    previous_angle = current_angle;
+    uint16_t angle_data = readRawAngle();
+    if (!fastMode) // read again to ensure current value
+    	angle_data = readRawAngle();
+    current_ts = _micros();
+    current_angle.update(angle_data);
+    return current_angle.asFloat();
+}
+
+
+
+/*
+unlike the normal MagneticSensorSPI implementation, this one uses the angle previously read by the last call to getAngle to do its
+calculation, and does not directly poll any data from the sensor.
+This is an optimisation for speed, based on the assumption that loopFOC() (which calls getAngle()) is invoked at least as often as
+move() (which calls getVelocity()). If this is the case, getVelocity() should always have a sufficiently "fresh" value to work with.
+If using this function in a different context, simply call getAngle() first to be sure of a fresh angle value.
+*/
+float PreciseMagneticSensorAS5048A::getVelocity() {
+	return current_angle.velocity(previous_angle, (current_ts-previous_ts));
+}