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;
+}