try to fix submodule

firmware/lib/Arduino-FOC-drivers/src/encoders/mt6835/MT6835.h

@@ -0,0 +1,217 @@
+
+
+#pragma once
+
+
+
+#include "Arduino.h"
+#include "SPI.h"
+
+#define MT6835_OP_READ  0b0011
+#define MT6835_OP_WRITE 0b0110
+#define MT6835_OP_PROG  0b1100
+#define MT6835_OP_ZERO  0b0101
+#define MT6835_OP_ANGLE 0b1010
+
+#define MT6835_CMD_MASK  0b111100000000000000000000
+#define MT6835_ADDR_MASK 0b000011111111111100000000
+#define MT6835_DATA_MASK 0b000000000000000011111111
+
+#define MT6835_CPR 2097152
+
+#define MT6835_STATUS_OVERSPEED 0x01
+#define MT6835_STATUS_WEAKFIELD 0x02
+#define MT6835_STATUS_UNDERVOLT 0x04
+
+#define MT6835_WRITE_ACK 0x55
+
+#define MT6835_REG_USERID 0x001
+
+#define MT6835_REG_ANGLE1 0x003
+#define MT6835_REG_ANGLE2 0x004
+#define MT6835_REG_ANGLE3 0x005
+#define MT6835_REG_ANGLE4 0x006
+
+#define MT6835_REG_ABZ_RES1 0x007
+#define MT6835_REG_ABZ_RES2 0x008
+
+#define MT6835_REG_ZERO1 0x009
+#define MT6835_REG_ZERO2 0x00A
+
+#define MT6835_REG_OPTS0 0x00A
+#define MT6835_REG_OPTS1 0x00B
+#define MT6835_REG_OPTS2 0x00C
+#define MT6835_REG_OPTS3 0x00D
+#define MT6835_REG_OPTS4 0x00E
+#define MT6835_REG_OPTS5 0x011
+
+// NLC table, 192 bytes
+#define MT6835_REG_NLC_BASE 0x013
+
+#define MT6835_REG_CAL_STATUS 0x113
+
+
+union MT6835ABZRes {
+	struct {
+		uint8_t ab_swap:1;
+		uint8_t abz_off:1;
+		uint8_t abz_res_low:6;
+	};
+	uint8_t reg;
+};
+
+
+
+union MT6835Options0 {
+	struct {
+		uint8_t z_pul_wid:3;
+		uint8_t z_edge:1;
+		uint8_t zero_pos_low:4;
+	};
+	uint8_t reg;
+};
+
+
+
+union MT6835Options1 {
+	struct {
+		uint8_t uvw_res:4;
+		uint8_t uvw_off:1;
+		uint8_t uvw_mux:1;
+		uint8_t z_phase:2;
+	};
+	uint8_t reg;
+};
+
+
+
+union MT6835Options2 {
+	struct {
+		uint8_t pwm_sel:3;
+		uint8_t pwm_pol:1;
+		uint8_t pwm_fq:1;
+		uint8_t nlc_en:1;
+		uint8_t reserved:2;
+	};
+	uint8_t reg;
+};
+
+
+
+union MT6835Options3 {
+	struct {
+		uint8_t hyst:3;
+		uint8_t rot_dir:1;
+		uint8_t reserved:4;
+	};
+	uint8_t reg;
+};
+
+
+
+union MT6835Options4 {
+	struct {
+		uint8_t reserved:4;
+		uint8_t autocal_freq:3;
+		uint8_t gpio_ds:1;
+	};
+	uint8_t reg;
+};
+
+
+
+union MT6835Options5 {
+	struct {
+		uint8_t bw:3;
+		uint8_t reserved:5;
+	};
+	uint8_t reg;
+};
+
+
+
+
+union MT6835Command {
+	struct {
+		uint32_t unused:8;
+		uint32_t data:8;
+		uint32_t addr:12;
+		uint32_t cmd:4;
+	};
+	uint32_t val;
+};
+
+
+
+
+#define MT6835_BITORDER MSBFIRST
+
+static SPISettings MT6835SPISettings(1000000, MT6835_BITORDER, SPI_MODE3); // @suppress("Invalid arguments")
+
+
+
+
+class MT6835 {
+public:
+    MT6835(SPISettings settings = MT6835SPISettings, int nCS = -1);
+    virtual ~MT6835();
+
+    virtual void init(SPIClass* _spi = &SPI);
+
+
+	float getCurrentAngle(); // angle in radians, return current value
+
+	uint32_t readRawAngle21(); // up to 21bit precision angle value
+
+    
+    uint8_t getBandwidth();
+    void setBandwidth(uint8_t bw);
+
+    uint8_t getHysteresis();
+    void setHysteresis(uint8_t hyst);
+
+    uint8_t getRotationDirection();
+    void setRotationDirection(uint8_t dir);
+
+    uint16_t getABZResolution();
+    void setABZResolution(uint16_t res);
+
+    bool isABZEnabled();
+    void setABZEnabled(bool enabled);
+
+    bool isABSwapped();
+    void setABSwapped(bool swapped);
+
+    uint16_t getZeroPosition();
+    void setZeroPosition(uint16_t pos);
+
+    MT6835Options1 getOptions1();
+    void setOptions1(MT6835Options1 opts);
+
+    MT6835Options2 getOptions2();
+    void setOptions2(MT6835Options2 opts);
+
+    MT6835Options3 getOptions3();
+    void setOptions3(MT6835Options3 opts);
+
+    MT6835Options4 getOptions4();
+    void setOptions4(MT6835Options4 opts);
+
+	uint8_t getStatus();
+
+	uint8_t getCalibrationStatus();
+
+	bool setZeroFromCurrentPosition();
+	bool writeEEPROM(); // wait 6s after calling this method
+
+private:
+	SPIClass* spi;
+	SPISettings settings;
+	int nCS = -1;
+	uint8_t laststatus = 0;
+
+    void transfer24(MT6835Command* outValue);
+    uint8_t readRegister(uint16_t reg);
+    bool writeRegister(uint16_t reg, uint8_t value);
+
+};