try to fix submodule

firmware/lib/Arduino-FOC-drivers/src/encoders/mt6816/MT6816.cpp

@@ -0,0 +1,56 @@
+
+#include "MT6816.h"
+
+MT6816::MT6816(SPISettings settings, int nCS) : settings(settings), nCS(nCS) {
+};
+
+MT6816::~MT6816() {
+};
+
+void MT6816::init(SPIClass* _spi) {
+    spi = _spi;
+    if (nCS >= 0) {
+        pinMode(nCS, OUTPUT);
+        digitalWrite(nCS, HIGH);
+        spi->begin();
+    }
+};
+
+uint16_t MT6816::readRawAngle()  {
+    uint16_t angle_data = 0;
+    angle_data = spi_transfer16(MT6816_READ_REG_03) << 8;
+    angle_data |= spi_transfer16(MT6816_READ_REG_04);
+
+    if ((angle_data & MT6816_NO_MAGNET_WARNING_BIT) == MT6816_NO_MAGNET_WARNING_BIT) {
+        this->no_magnetic_reading = true;
+    } else {
+        this->no_magnetic_reading = false;
+    }
+
+    if (!this->parityCheck(angle_data)) {
+        return 0;
+    }
+
+    return (angle_data >> 2);
+}
+
+bool MT6816::parityCheck(uint16_t data) {
+    data ^= data >> 8;
+    data ^= data >> 4;
+    data ^= data >> 2;
+    data ^= data >> 1;
+
+    return (~data) & 1;
+}
+
+uint16_t MT6816::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/mt6816/MT6816.h

@@ -0,0 +1,40 @@
+
+#ifndef MT6816_H
+#define MT6816_H
+
+#include "Arduino.h"
+#include "SPI.h"
+
+#define _2PI                                6.28318530718f
+#define MT6816_CPR                          16384.0f
+
+#define MT6816_READ_REG_03                  0x8300
+#define MT6816_READ_REG_04                  0x8400
+
+#define MT6816_NO_MAGNET_WARNING_BIT        0x0002
+#define MT6816_BITORDER                     MSBFIRST
+
+
+static SPISettings MT6816SPISettings(1000000, MT6816_BITORDER, SPI_MODE3);
+
+class MT6816 {
+public:
+    MT6816(SPISettings settings = MT6816SPISettings, int nCS = -1);
+    virtual ~MT6816();
+
+    virtual void init(SPIClass* _spi = &SPI);
+    uint16_t readRawAngle();
+    bool isNoMagneticReading() {
+        return no_magnetic_reading;
+    }
+
+private:
+    bool parityCheck(uint16_t data);
+    uint16_t spi_transfer16(uint16_t outdata);
+    SPIClass* spi;
+    SPISettings settings;
+    bool no_magnetic_reading = false;
+    int nCS = -1;
+};
+
+#endif /* MT6816_H */

firmware/lib/Arduino-FOC-drivers/src/encoders/mt6816/MagneticSensorMT6816.cpp

@@ -0,0 +1,26 @@
+
+#include "common/foc_utils.h"
+#include "common/time_utils.h"
+#include "MagneticSensorMT6816.h"
+
+
+MagneticSensorMT6816::MagneticSensorMT6816(int nCS, SPISettings settings) : MT6816(settings, nCS) {
+}
+
+MagneticSensorMT6816::~MagneticSensorMT6816(){
+}
+
+void MagneticSensorMT6816::init(SPIClass* _spi) {
+    this->MT6816::init(_spi);
+    this->Sensor::init();
+}
+
+float MagneticSensorMT6816::getSensorAngle() {
+    uint16_t raw_angle_data = readRawAngle();
+
+    if (this->MT6816::isNoMagneticReading()) {
+        return 0;
+    }
+
+    return static_cast<float>(raw_angle_data) / MT6816_CPR * _2PI;
+}

firmware/lib/Arduino-FOC-drivers/src/encoders/mt6816/MagneticSensorMT6816.h

@@ -0,0 +1,17 @@
+
+#ifndef MAGNETICSENSOR_MT6816_H
+#define MAGNETICSENSOR_MT6816_H
+
+#include "common/base_classes/Sensor.h"
+#include "MT6816.h"
+
+class MagneticSensorMT6816 : public Sensor, public MT6816 {
+public:
+    MagneticSensorMT6816(int nCS = -1, SPISettings settings = MT6816SPISettings);
+    virtual ~MagneticSensorMT6816();
+
+    virtual float getSensorAngle() override;
+    virtual void init(SPIClass* _spi = &SPI);
+};
+
+#endif /* MAGNETICSENSOR_MT6816_H */